cl_nav2z::CbNavigateNextWaypoint Class Reference

#include <cb_navigate_next_waypoint.hpp>

Inheritance diagram for cl_nav2z::CbNavigateNextWaypoint:

Collaboration diagram for cl_nav2z::CbNavigateNextWaypoint:

Public Member Functions
	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)

Protected Attributes
CpWaypointNavigator *	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_

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 ()
	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

Detailed Description

Definition at line 29 of file cb_navigate_next_waypoint.hpp.

Constructor & Destructor Documentation

CbNavigateNextWaypoint()

cl_nav2z::CbNavigateNextWaypoint::CbNavigateNextWaypoint

(

std::optional< NavigateNextWaypointOptions >

options = std::nullopt

)

Definition at line 25 of file cb_navigate_next_waypoint.cpp.

{
  if (options) options_ = *options;
}

References options_.

~CbNavigateNextWaypoint()

cl_nav2z::CbNavigateNextWaypoint::~CbNavigateNextWaypoint ( )

virtual

Definition at line 30 of file cb_navigate_next_waypoint.cpp.

{}

Member Function Documentation

onEntry()

void cl_nav2z::CbNavigateNextWaypoint::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached.

Definition at line 32 of file cb_navigate_next_waypoint.cpp.

{
  waypointsNavigator_ = nav2zClient_->getComponent<CpWaypointNavigator>();
 
  this->navigationCallback_ = std::make_shared<cl_nav2z::ClNav2Z::SmaccNavigateResultSignal>();
 
  this->getStateMachine()->createSignalConnection(
    *navigationCallback_, &CbNavigateNextWaypoint::onNavigationResult, this);
 
  auto goalHandle = waypointsNavigator_->sendNextGoal(options_, navigationCallback_);
 
  auto waypointname = waypointsNavigator_->getCurrentWaypointName();
 
  if (waypointname)
  {
    RCLCPP_INFO(
      getLogger(), "[CbNavigateNextWaypoint] current iteration waypoints i: %ld with name '%s'",
      waypointsNavigator_->getCurrentWaypointIndex(), waypointname->c_str());
  }
  else
  {
    RCLCPP_INFO(
      getLogger(), "[CbNavigateNextWaypoint] current iteration waypoints i: %ld",
      waypointsNavigator_->getCurrentWaypointIndex());
  }
}

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClient::getComponent(), cl_nav2z::CpWaypointNavigatorBase::getCurrentWaypointIndex(), cl_nav2z::CpWaypointNavigatorBase::getCurrentWaypointName(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getStateMachine(), cl_nav2z::CbNav2ZClientBehaviorBase::nav2zClient_, navigationCallback_, cl_nav2z::CbNav2ZClientBehaviorBase::onNavigationResult(), options_, cl_nav2z::CpWaypointNavigator::sendNextGoal(), and waypointsNavigator_.

Referenced by cl_nav2z::CbNavigateNamedWaypoint::onEntry(), and cl_nav2z::CbNavigateNextWaypointUntilReached::onEntry().

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onExit()

void cl_nav2z::CbNavigateNextWaypoint::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Reimplemented in cl_nav2z::CbNavigateNextWaypointUntilReached.

Definition at line 59 of file cb_navigate_next_waypoint.cpp.

{ waypointsNavigator_->stopWaitingResult(); }

References cl_nav2z::CpWaypointNavigator::stopWaitingResult(), and waypointsNavigator_.

Referenced by cl_nav2z::CbNavigateNamedWaypoint::onExit(), and cl_nav2z::CbNavigateNextWaypointUntilReached::onExit().

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Member Data Documentation

navigationCallback_

cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::SharedPtr cl_nav2z::CbNavigateNextWaypoint::navigationCallback_

protected

Definition at line 45 of file cb_navigate_next_waypoint.hpp.

Referenced by onEntry().

options_

NavigateNextWaypointOptions cl_nav2z::CbNavigateNextWaypoint::options_

protected

Definition at line 43 of file cb_navigate_next_waypoint.hpp.

Referenced by CbNavigateNextWaypoint(), and onEntry().

waypointsNavigator_

CpWaypointNavigator* cl_nav2z::CbNavigateNextWaypoint::waypointsNavigator_

protected

Definition at line 41 of file cb_navigate_next_waypoint.hpp.

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

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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.hpp
• smacc2_client_library/nav2z_client/nav2z_client/src/nav2z_client/client_behaviors/cb_navigate_next_waypoint.cpp