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 ()
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)

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	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 inherited from cl_nav2z::CbNavigateNextWaypoint
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_

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<CpWaypointNavigator>();
 
    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::CpWaypointNavigatorBase::getCurrentWaypointIndex(), cl_nav2z::CpWaypointNavigatorBase::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