#include <cb_nav2z_client_behavior_base.hpp>

Inheritance diagram for cl_nav2z::CbNav2ZClientBehaviorBase:

Collaboration diagram for cl_nav2z::CbNav2ZClientBehaviorBase:

Public Member Functions
virtual	~CbNav2ZClientBehaviorBase ()

template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
boost::signals2::connection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
boost::signals2::connection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
boost::signals2::connection	onFailure (TCallback callback, T *object)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
boost::signals2::connection	onFailure (TCallbackMethod callback, T *object)

Public Member Functions inherited from smacc2::ISmaccClientBehavior
	ISmaccClientBehavior ()

virtual	~ISmaccClientBehavior ()

ISmaccStateMachine *	getStateMachine ()

std::string	getName () const

template<typename SmaccClientType >
void	requiresClient (SmaccClientType *&storage)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, bool throwExceptionIfNotExist=false)

virtual void	onEntry ()

virtual void	onExit ()

virtual void	executeOnEntry ()

virtual void	executeOnExit ()

Protected Member Functions
void	sendGoal (ClNav2Z::Goal &goal)

void	cancelGoal ()

bool	isOwnActionResponse (const ClNav2Z::WrappedResult &)

virtual void	onNavigationResult (const ClNav2Z::WrappedResult &)

virtual void	onNavigationActionSuccess (const ClNav2Z::WrappedResult &)

virtual void	onNavigationActionAbort (const ClNav2Z::WrappedResult &)

Protected Member Functions inherited from smacc2::SmaccAsyncClientBehavior
void	postSuccessEvent ()

void	postFailureEvent ()

virtual void	dispose () override

bool	isShutdownRequested ()

Protected Member Functions inherited from smacc2::ISmaccClientBehavior
virtual void	runtimeConfigure ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

ISmaccState *	getCurrentState ()

virtual void	dispose ()

virtual rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

Protected Attributes
cl_nav2z::ClNav2Z *	nav2zClient_

cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr	navigationCallback_

rclcpp_action::ResultCode	navigationResult_

std::shared_future< std::shared_ptr< rclcpp_action::ClientGoalHandle< nav2_msgs::action::NavigateToPose > > >	goalHandleFuture_

Detailed Description

Definition at line 28 of file cb_nav2z_client_behavior_base.hpp.

Constructor & Destructor Documentation

◆ ~CbNav2ZClientBehaviorBase()

cl_nav2z::CbNav2ZClientBehaviorBase::~CbNav2ZClientBehaviorBase ( )

virtual

Definition at line 24 of file cb_nav2z_client_behavior_base.cpp.

24{}

Member Function Documentation

◆ cancelGoal()

void cl_nav2z::CbNav2ZClientBehaviorBase::cancelGoal ( )

protected

Definition at line 43 of file cb_nav2z_client_behavior_base.cpp.

43{ this->nav2zClient_->cancelGoal(); }

cl_nav2z::CbNav2ZClientBehaviorBase::nav2zClient_

cl_nav2z::ClNav2Z * nav2zClient_

Definition: cb_nav2z_client_behavior_base.hpp:51

smacc2::client_bases::SmaccActionClientBase::cancelGoal

virtual bool cancelGoal() override

Definition: smacc_action_client_base.hpp:214

References smacc2::client_bases::SmaccActionClientBase< ActionType >::cancelGoal(), and nav2zClient_.

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◆ isOwnActionResponse()

bool cl_nav2z::CbNav2ZClientBehaviorBase::isOwnActionResponse ( const ClNav2Z::WrappedResult & r )

protected

Definition at line 45 of file cb_nav2z_client_behavior_base.cpp.

{
  auto name = getName();
  if (isShutdownRequested())
  {
    RCLCPP_ERROR(
      getLogger(), "[%s] Propagating action client signal skipped. the behavior is shutting down",
      name.c_str());
    return false;
  }
 
  if (!goalHandleFuture_.valid())
  {
    RCLCPP_ERROR(
      this->getLogger(), "[%s]Propagating action client signal, our goal handle is not valid",
      name.c_str());
    return false;
  }
 
  auto goalHandle = goalHandleFuture_.get();
  auto goal_uuid_ = goalHandle->get_goal_id();
 
  if (r.goal_id != goal_uuid_)
  {
    RCLCPP_ERROR(
      getLogger(),
      "[%s] Received a failure event from an action server with a different goal_uuid: %s, "
      "expected: %s",
      smacc2::demangleType(typeid(*this)).c_str(), rclcpp_action::to_string(r.goal_id).c_str(),
      rclcpp_action::to_string(goal_uuid_).c_str());
    return false;
  }
 
  return true;
}

References smacc2::introspection::demangleType(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), goalHandleFuture_, and smacc2::SmaccAsyncClientBehavior::isShutdownRequested().

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◆ onNavigationActionAbort()

void cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionAbort ( const ClNav2Z::WrappedResult & r )

protectedvirtual

Definition at line 109 of file cb_nav2z_client_behavior_base.cpp.

{
  // if (!isOwnActionResponse(r))
  // {
  //   RCLCPP_WARN(
  //     getLogger(), "[%s] Propagating success event skipped. Action response is not ours.",
  //     getName().c_str());
  //   return;
  // }
 
  navigationResult_ = r.code;
  auto name = getName();
  RCLCPP_INFO(getLogger(), "[%s] Propagating failure event from action server", name.c_str());
  this->postFailureEvent();
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), navigationResult_, and smacc2::SmaccAsyncClientBehavior::postFailureEvent().

Referenced by onNavigationResult().

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◆ onNavigationActionSuccess()

void cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionSuccess ( const ClNav2Z::WrappedResult & r )

protectedvirtual

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached.

Definition at line 93 of file cb_nav2z_client_behavior_base.cpp.

{
  // if (!isOwnActionResponse(r))
  // {
  //   RCLCPP_WARN(
  //     getLogger(), "[%s] Propagating success event skipped. Action response is not ours.",
  //     getName().c_str());
  //   return;
  // }
 
  navigationResult_ = r.code;
 
  RCLCPP_INFO(getLogger(), "[%s] Propagating success event from action server", getName().c_str());
  this->postSuccessEvent();
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), navigationResult_, and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

Referenced by onNavigationResult().

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◆ onNavigationResult()

void cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationResult ( const ClNav2Z::WrappedResult & r )

protectedvirtual

Definition at line 81 of file cb_nav2z_client_behavior_base.cpp.

{
  if (r.code == rclcpp_action::ResultCode::SUCCEEDED)
  {
    this->onNavigationActionSuccess(r);
  }
  else
  {
    this->onNavigationActionAbort(r);
  }
}

References onNavigationActionAbort(), and onNavigationActionSuccess().

Referenced by cl_nav2z::CbNavigateNextWaypoint::onEntry(), and sendGoal().

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◆ onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbNav2ZClientBehaviorBase::onOrthogonalAllocation ( )

inline

Definition at line 34 of file cb_nav2z_client_behavior_base.hpp.

  {
    this->requiresClient(nav2zClient_);
    smacc2::SmaccAsyncClientBehavior::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References nav2zClient_, and smacc2::ISmaccClientBehavior::requiresClient().

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◆ sendGoal()

void cl_nav2z::CbNav2ZClientBehaviorBase::sendGoal ( ClNav2Z::Goal & goal )

protected

Definition at line 26 of file cb_nav2z_client_behavior_base.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Creating sending goal callback signal.");
 
  this->navigationCallback_ = std::make_shared<cl_nav2z::ClNav2Z::SmaccNavigateResultSignal>();
 
  this->getStateMachine()->createSignalConnection(
    *navigationCallback_, &CbNav2ZClientBehaviorBase::onNavigationResult, this);
 
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Sending goal");
  goalHandleFuture_ = this->nav2zClient_->sendGoal(goal, navigationCallback_);
  RCLCPP_INFO_STREAM(
    getLogger(), "[" << getName() << "] Goal set, future valid: " << goalHandleFuture_.valid());
 
  // this->goal_uuid_ = gh.get_goal_id () ;
}

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getStateMachine(), goalHandleFuture_, nav2zClient_, navigationCallback_, onNavigationResult(), and smacc2::client_bases::SmaccActionClientBase< ActionType >::sendGoal().

Referenced by cl_nav2z::CbNavigateGlobalPosition::execute(), cl_nav2z::CbAbsoluteRotate::onEntry(), cl_nav2z::CbNavigateBackwards::onEntry(), cl_nav2z::CbNavigateForward::onEntry(), cl_nav2z::CbRotate::onEntry(), and cl_nav2z::CbUndoPathBackwards::onEntry().

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Member Data Documentation

◆ goalHandleFuture_

std::shared_future< std::shared_ptr<rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose> > > cl_nav2z::CbNav2ZClientBehaviorBase::goalHandleFuture_

protected

Definition at line 58 of file cb_nav2z_client_behavior_base.hpp.

Referenced by isOwnActionResponse(), and sendGoal().

◆ nav2zClient_

cl_nav2z::ClNav2Z* cl_nav2z::CbNav2ZClientBehaviorBase::nav2zClient_

protected

Definition at line 51 of file cb_nav2z_client_behavior_base.hpp.

◆ navigationCallback_

cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr cl_nav2z::CbNav2ZClientBehaviorBase::navigationCallback_

protected

Definition at line 52 of file cb_nav2z_client_behavior_base.hpp.

Referenced by sendGoal().

◆ navigationResult_

rclcpp_action::ResultCode cl_nav2z::CbNav2ZClientBehaviorBase::navigationResult_

protected

Definition at line 55 of file cb_nav2z_client_behavior_base.hpp.

Referenced by cl_nav2z::CbUndoPathBackwards::onExit(), onNavigationActionAbort(), onNavigationActionSuccess(), and cl_nav2z::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess().

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

smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_nav2z_client_behavior_base.hpp
smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_nav2z_client_behavior_base.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ ~CbNav2ZClientBehaviorBase()

Member Function Documentation

◆ cancelGoal()

◆ isOwnActionResponse()

◆ onNavigationActionAbort()

◆ onNavigationActionSuccess()

◆ onNavigationResult()

◆ onOrthogonalAllocation()

◆ sendGoal()

Member Data Documentation

◆ goalHandleFuture_

◆ nav2zClient_

◆ navigationCallback_

◆ navigationResult_