#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	onStateOrthogonalAllocation ()

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

virtual	~CbNav2ZClientBehaviorBase ()

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

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

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

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

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)

template<typename SmaccComponentType >
void	requiresComponent (SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

virtual void	onEntry ()

virtual void	onExit ()

Protected Member Functions
void	sendGoal (nav2_msgs::action::NavigateToPose::Goal &goal)

void	cancelGoal ()

template<typename T >
boost::signals2::connection	onNavigationSucceeded (void(T::callback)(const components::CpNav2ActionInterface::WrappedResult &), T object)

template<typename T >
boost::signals2::connection	onNavigationAborted (void(T::callback)(const components::CpNav2ActionInterface::WrappedResult &), T object)

template<typename T >
boost::signals2::connection	onNavigationCancelled (void(T::callback)(const components::CpNav2ActionInterface::WrappedResult &), T object)

virtual void	onNavigationResult (const components::CpNav2ActionInterface::WrappedResult &)

virtual void	onNavigationActionSuccess (const components::CpNav2ActionInterface::WrappedResult &)

virtual void	onNavigationActionAbort (const components::CpNav2ActionInterface::WrappedResult &)

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 ()
	onEntry is executed in a new thread. However the current state cannot be left until the onEntry thread finishes. This flag can be checked from the onEntry thread to force finishing the thread.

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 rclcpp::Node::SharedPtr	getNode () const

virtual rclcpp::Logger	getLogger () const

Protected Attributes
components::CpNav2ActionInterface *	nav2ActionInterface_ = nullptr

smacc2::client_core_components::CpActionClient< nav2_msgs::action::NavigateToPose > *	actionClient_ = nullptr

rclcpp_action::ResultCode	navigationResult_

cl_nav2z::ClNav2Z *	nav2zClient_

cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr	navigationCallback_

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() [1/2]

cl_nav2z::CbNav2ZClientBehaviorBase::~CbNav2ZClientBehaviorBase ( )

virtual

Definition at line 25 of file cb_nav2z_client_behavior_base.cpp.

25{}

◆ ~CbNav2ZClientBehaviorBase() [2/2]

virtual cl_nav2z::CbNav2ZClientBehaviorBase::~CbNav2ZClientBehaviorBase ( )

virtual

Member Function Documentation

◆ cancelGoal() [1/2]

void cl_nav2z::CbNav2ZClientBehaviorBase::cancelGoal ( )

inlineprotected

Definition at line 66 of file cb_nav2z_client_behavior_base.hpp.

  {
    if (nav2ActionInterface_)
    {
      nav2ActionInterface_->cancelNavigation();
    }
  }

References cl_nav2z::components::CpNav2ActionInterface::cancelNavigation(), and nav2ActionInterface_.

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◆ cancelGoal() [2/2]

void cl_nav2z::CbNav2ZClientBehaviorBase::cancelGoal ( )

protected

◆ 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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◆ onNavigationAborted()

template<typename T >

boost::signals2::connection cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationAborted	(	void(T::*	callback )(const components::CpNav2ActionInterface::WrappedResult &),
		T *	object )

inlineprotected

Definition at line 87 of file cb_nav2z_client_behavior_base.hpp.

  {
    if (nav2ActionInterface_)
    {
      return nav2ActionInterface_->onNavigationAborted(callback, object);
    }
    return boost::signals2::connection();
  }

References nav2ActionInterface_, and cl_nav2z::components::CpNav2ActionInterface::onNavigationAborted().

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◆ onNavigationActionAbort() [1/2]

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

protectedvirtual

Definition at line 112 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().

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◆ onNavigationActionAbort() [2/2]

virtual void cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionAbort ( const components::CpNav2ActionInterface::WrappedResult & )

inlineprotectedvirtual

Definition at line 127 of file cb_nav2z_client_behavior_base.hpp.

127{}

Referenced by onNavigationResult().

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◆ onNavigationActionSuccess() [1/2]

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

protectedvirtual

Definition at line 96 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().

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◆ onNavigationActionSuccess() [2/2]

virtual void cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationActionSuccess ( const components::CpNav2ActionInterface::WrappedResult & )

inlineprotectedvirtual

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached, and cl_nav2z::CbNavigateNextWaypointUntilReached.

Definition at line 124 of file cb_nav2z_client_behavior_base.hpp.

125 {

126 }

Referenced by onNavigationResult().

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◆ onNavigationCancelled()

template<typename T >

boost::signals2::connection cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationCancelled	(	void(T::*	callback )(const components::CpNav2ActionInterface::WrappedResult &),
		T *	object )

inlineprotected

Definition at line 98 of file cb_nav2z_client_behavior_base.hpp.

  {
    if (nav2ActionInterface_)
    {
      return nav2ActionInterface_->onNavigationCancelled(callback, object);
    }
    return boost::signals2::connection();
  }

References nav2ActionInterface_, and cl_nav2z::components::CpNav2ActionInterface::onNavigationCancelled().

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◆ onNavigationResult() [1/2]

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

protectedvirtual

Definition at line 81 of file cb_nav2z_client_behavior_base.cpp.

{
  RCLCPP_DEBUG(
    getLogger(), "[%s] Received result event from action server, result code", getName().c_str());
 
  if (r.code == rclcpp_action::ResultCode::SUCCEEDED)
  {
    this->onNavigationActionSuccess(r);
  }
  else
  {
    this->onNavigationActionAbort(r);
  }
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), onNavigationActionAbort(), and onNavigationActionSuccess().

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◆ onNavigationResult() [2/2]

virtual void cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationResult ( const components::CpNav2ActionInterface::WrappedResult & )

inlineprotectedvirtual

Definition at line 123 of file cb_nav2z_client_behavior_base.hpp.

123{}

Referenced by sendGoal().

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◆ onNavigationSucceeded()

template<typename T >

boost::signals2::connection cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationSucceeded	(	void(T::*	callback )(const components::CpNav2ActionInterface::WrappedResult &),
		T *	object )

inlineprotected

Definition at line 76 of file cb_nav2z_client_behavior_base.hpp.

  {
    if (nav2ActionInterface_)
    {
      return nav2ActionInterface_->onNavigationSucceeded(callback, object);
    }
    return boost::signals2::connection();
  }

References nav2ActionInterface_, and cl_nav2z::components::CpNav2ActionInterface::onNavigationSucceeded().

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◆ onOrthogonalAllocation() [1/2]

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbNav2ZClientBehaviorBase::onOrthogonalAllocation ( )

inline

Definition at line 51 of file cb_nav2z_client_behavior_base.hpp.

  {
    onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References onStateOrthogonalAllocation().

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◆ onOrthogonalAllocation() [2/2]

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbNav2ZClientBehaviorBase::onOrthogonalAllocation ( )

inline

Definition at line 40 of file cb_nav2z_client_behavior_base.hpp.

  {
    // Call the new method to maintain functionality for third-party inheritors
    onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References onStateOrthogonalAllocation().

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◆ onStateOrthogonalAllocation() [1/2]

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbNav2ZClientBehaviorBase::onStateOrthogonalAllocation ( )

inline

Definition at line 37 of file cb_nav2z_client_behavior_base.hpp.

  {
    // NEW: Pure component-based approach - no client dependencies
    this->requiresComponent(nav2ActionInterface_, ComponentRequirement::HARD);
    this->requiresComponent(actionClient_, ComponentRequirement::HARD);
 
    smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References actionClient_, nav2ActionInterface_, smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(), and smacc2::ISmaccClientBehavior::requiresComponent().

Referenced by onOrthogonalAllocation().

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◆ onStateOrthogonalAllocation() [2/2]

template<typename TOrthogonal , typename TSourceObject >

void cl_nav2z::CbNav2ZClientBehaviorBase::onStateOrthogonalAllocation ( )

inline

Definition at line 47 of file cb_nav2z_client_behavior_base.hpp.

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

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

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◆ sendGoal() [1/2]

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().

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◆ sendGoal() [2/2]

void cl_nav2z::CbNav2ZClientBehaviorBase::sendGoal ( nav2_msgs::action::NavigateToPose::Goal & goal )

inlineprotected

Definition at line 58 of file cb_nav2z_client_behavior_base.hpp.

  {
    if (nav2ActionInterface_)
    {
      nav2ActionInterface_->sendGoal(goal);
    }
  }

References nav2ActionInterface_, and cl_nav2z::components::CpNav2ActionInterface::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

◆ actionClient_

smacc2::client_core_components::CpActionClient<nav2_msgs::action::NavigateToPose>* cl_nav2z::CbNav2ZClientBehaviorBase::actionClient_ = nullptr

protected

Definition at line 111 of file cb_nav2z_client_behavior_base.hpp.

Referenced by onStateOrthogonalAllocation().

◆ goalHandleFuture_

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

protected

Definition at line 71 of file cb_nav2z_client_behavior_base.hpp.

Referenced by isOwnActionResponse(), and sendGoal().

◆ nav2ActionInterface_

components::CpNav2ActionInterface* cl_nav2z::CbNav2ZClientBehaviorBase::nav2ActionInterface_ = nullptr

protected

Definition at line 109 of file cb_nav2z_client_behavior_base.hpp.

Referenced by cancelGoal(), onNavigationAborted(), onNavigationCancelled(), onNavigationSucceeded(), onStateOrthogonalAllocation(), and sendGoal().

◆ nav2zClient_

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

protected

Definition at line 64 of file cb_nav2z_client_behavior_base.hpp.

Referenced by cl_nav2z::CbNavigateNextWaypointUntilReached::onNavigationActionSuccess(), onStateOrthogonalAllocation(), cl_nav2z::CbNavigateNextWaypointUntilReached::onStateOrthogonalAllocation(), and sendGoal().

◆ navigationCallback_

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

protected

Definition at line 65 of file cb_nav2z_client_behavior_base.hpp.

Referenced by sendGoal().

◆ navigationResult_

rclcpp_action::ResultCode cl_nav2z::CbNav2ZClientBehaviorBase::navigationResult_

protected

Definition at line 114 of file cb_nav2z_client_behavior_base.hpp.

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

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

smacc2_client_library/cl_nav2z/include/cl_nav2z/client_behaviors/cb_nav2z_client_behavior_base.hpp
smacc2_client_library/nav2z_client/nav2z_client/include/nav2z_client/client_behaviors/cb_nav2z_client_behavior_base.hpp
smacc2_client_library/cl_nav2z/src/cl_nav2z/client_behaviors/cb_nav2z_client_behavior_base.cpp
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() [1/2]

◆ ~CbNav2ZClientBehaviorBase() [2/2]

Member Function Documentation

◆ cancelGoal() [1/2]

◆ cancelGoal() [2/2]

◆ isOwnActionResponse()

◆ onNavigationAborted()

◆ onNavigationActionAbort() [1/2]

◆ onNavigationActionAbort() [2/2]

◆ onNavigationActionSuccess() [1/2]

◆ onNavigationActionSuccess() [2/2]

◆ onNavigationCancelled()

◆ onNavigationResult() [1/2]

◆ onNavigationResult() [2/2]

◆ onNavigationSucceeded()

◆ onOrthogonalAllocation() [1/2]

◆ onOrthogonalAllocation() [2/2]

◆ onStateOrthogonalAllocation() [1/2]

◆ onStateOrthogonalAllocation() [2/2]

◆ sendGoal() [1/2]

◆ sendGoal() [2/2]

Member Data Documentation

◆ actionClient_

◆ goalHandleFuture_

◆ nav2ActionInterface_

◆ nav2zClient_

◆ navigationCallback_

◆ navigationResult_