cl_nav2z::CbNavigateNextWaypointUntilReached Class Reference

#include <cb_navigate_next_waypoint_until_reached.hpp>

Inheritance diagram for cl_nav2z::CbNavigateNextWaypointUntilReached:

Collaboration diagram for cl_nav2z::CbNavigateNextWaypointUntilReached:

Public Member Functions
	CbNavigateNextWaypointUntilReached (std::string goalWaypointName, std::optional< NavigateNextWaypointOptions > options=std::nullopt)
virtual	~CbNavigateNextWaypointUntilReached ()
template<typename TOrthogonal , typename TSourceObject >
void	onOrthogonalAllocation ()
void	onEntry () override
void	onExit () override
void	onNavigationActionSuccess (const ClNav2Z::WrappedResult &r) override
Public Member Functions inherited from cl_nav2z::CbNavigateNextWaypoint
	CbNavigateNextWaypoint (std::optional< NavigateNextWaypointOptions > options=std::nullopt)
virtual	~CbNavigateNextWaypoint ()
void	onEntry () override
void	onExit () override
Public Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
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 ()

Private Attributes
std::string	goalWaypointName_
std::function< void()>	postEvGoalWaypointReached_

Additional Inherited Members
Protected Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
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 inherited from cl_nav2z::CbNavigateNextWaypoint
WaypointNavigator *	waypointsNavigator_
NavigateNextWaypointOptions	options_
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr	navigationCallback_
Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
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 31 of file cb_navigate_next_waypoint_until_reached.hpp.

Constructor & Destructor Documentation

CbNavigateNextWaypointUntilReached()

cl_nav2z::CbNavigateNextWaypointUntilReached::CbNavigateNextWaypointUntilReached	(	std::string	goalWaypointName,
		std::optional< NavigateNextWaypointOptions >	options = std::nullopt
	)

Definition at line 25 of file cb_navigate_next_waypoint_until_reached.cpp.

: CbNavigateNextWaypoint(options), goalWaypointName_(goalWaypointName)
{
}

~CbNavigateNextWaypointUntilReached()

cl_nav2z::CbNavigateNextWaypointUntilReached::~CbNavigateNextWaypointUntilReached ( )

virtual

Definition at line 31 of file cb_navigate_next_waypoint_until_reached.cpp.

{}

Member Function Documentation

onEntry()

void cl_nav2z::CbNavigateNextWaypointUntilReached::onEntry ( )

overridevirtual

Reimplemented from cl_nav2z::CbNavigateNextWaypoint.

Definition at line 33 of file cb_navigate_next_waypoint_until_reached.cpp.

{ CbNavigateNextWaypoint::onEntry(); }

References cl_nav2z::CbNavigateNextWaypoint::onEntry().

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onExit()

void cl_nav2z::CbNavigateNextWaypointUntilReached::onExit ( )

overridevirtual

Reimplemented from cl_nav2z::CbNavigateNextWaypoint.

Definition at line 35 of file cb_navigate_next_waypoint_until_reached.cpp.

{ CbNavigateNextWaypoint::onExit(); }

References cl_nav2z::CbNavigateNextWaypoint::onExit().

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onNavigationActionSuccess()

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

inlineoverridevirtual

Reimplemented from cl_nav2z::CbNav2ZClientBehaviorBase.

Definition at line 58 of file cb_navigate_next_waypoint_until_reached.hpp.

  {
    // 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());
 
    waypointsNavigator_ = nav2zClient_->getComponent<WaypointNavigator>();
 
    auto current_waypoint_name = waypointsNavigator_->getCurrentWaypointName();
 
    if (current_waypoint_name == this->goalWaypointName_)
    {
      RCLCPP_INFO(
        getLogger(),
        "[CbNavigateNextWaypointUntilReached] GoalReached current iteration waypoint i: %ld with "
        "name '%s'",
        waypointsNavigator_->getCurrentWaypointIndex(), current_waypoint_name->c_str());
 
      this->postEvGoalWaypointReached_();
    }
    else
    {
      RCLCPP_INFO(
        getLogger(),
        "[CbNavigateNextWaypointUntilReached] goal:'%s' current:'%s'. keep navigating.",
        goalWaypointName_.c_str(), current_waypoint_name->c_str());
    }
 
    this->postSuccessEvent();
  }

References smacc2::ISmaccClient::getComponent(), cl_nav2z::WaypointNavigator::getCurrentWaypointIndex(), cl_nav2z::WaypointNavigator::getCurrentWaypointName(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), goalWaypointName_, cl_nav2z::CbNav2ZClientBehaviorBase::nav2zClient_, cl_nav2z::CbNav2ZClientBehaviorBase::navigationResult_, postEvGoalWaypointReached_, smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), and cl_nav2z::CbNavigateNextWaypoint::waypointsNavigator_.

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onOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbNavigateNextWaypointUntilReached::onOrthogonalAllocation ( )

inline

Definition at line 41 of file cb_navigate_next_waypoint_until_reached.hpp.

  {
    this->requiresClient(nav2zClient_);
    CbNavigateNextWaypoint::onOrthogonalAllocation<TOrthogonal, TSourceObject>();
 
    postEvGoalWaypointReached_ = [this]()
    {
      this->postEvent<EvGoalWaypointReached<TSourceObject, TOrthogonal>>();
 
      // nav2zClient_->onSucceeded(&CbNavigateNextWaypointUntilReached::onWaypointReached, this);
    };
  }

References cl_nav2z::CbNav2ZClientBehaviorBase::nav2zClient_, postEvGoalWaypointReached_, and smacc2::ISmaccClientBehavior::requiresClient().

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Member Data Documentation

goalWaypointName_

std::string cl_nav2z::CbNavigateNextWaypointUntilReached::goalWaypointName_

private

Definition at line 99 of file cb_navigate_next_waypoint_until_reached.hpp.

Referenced by onNavigationActionSuccess().

postEvGoalWaypointReached_

std::function<void()> cl_nav2z::CbNavigateNextWaypointUntilReached::postEvGoalWaypointReached_

private

Definition at line 101 of file cb_navigate_next_waypoint_until_reached.hpp.

Referenced by onNavigationActionSuccess(), and onOrthogonalAllocation().

---

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

• smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_navigate_next_waypoint_until_reached.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_next_waypoint_until_reached.cpp