#include <cb_undo_path_backwards.hpp>

Inheritance diagram for cl_nitrosz::CbUndoPathBackwards:

Collaboration diagram for cl_nitrosz::CbUndoPathBackwards:

Public Member Functions
	CbUndoPathBackwards (std::optional< CbUndoPathBackwardsOptions > options=std::nullopt)

void	onEntry () override

void	onExit () override

Public Member Functions inherited from cl_nitrosz::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::shared_ptr< tf2_ros::Buffer >	listener

CpOdomTracker *	odomTracker

std::optional< CbUndoPathBackwardsOptions >	options_

Additional Inherited Members
Protected Member Functions inherited from cl_nitrosz::CbNav2ZClientBehaviorBase
void	sendGoal (ClNitrosZ::Goal &goal)

void	cancelGoal ()

bool	isOwnActionResponse (const ClNitrosZ::WrappedResult &)

virtual void	onNavigationResult (const ClNitrosZ::WrappedResult &)

virtual void	onNavigationActionSuccess (const ClNitrosZ::WrappedResult &)

virtual void	onNavigationActionAbort (const ClNitrosZ::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_nitrosz::CbNav2ZClientBehaviorBase
cl_nitrosz::ClNitrosZ *	nitroszClient_

cl_nitrosz::ClNitrosZ::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 40 of file cb_undo_path_backwards.hpp.

Constructor & Destructor Documentation

◆ CbUndoPathBackwards()

cl_nitrosz::CbUndoPathBackwards::CbUndoPathBackwards ( std::optional< CbUndoPathBackwardsOptions > options = std::nullopt )

Definition at line 33 of file cb_undo_path_backwards.cpp.

{
  options_ = options;
}

References options_.

Member Function Documentation

◆ onEntry()

void cl_nitrosz::CbUndoPathBackwards::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 38 of file cb_undo_path_backwards.cpp.

{
  listener = std::make_shared<tf2_ros::Buffer>(this->getNode()->get_clock());
  odomTracker = nitroszClient_->getComponent<CpOdomTracker>();
 
  odomTracker->logStateString(false);
 
  auto plannerSwitcher = nitroszClient_->getComponent<CpPlannerSwitcher>();
 
  nav_msgs::msg::Path forwardpath = odomTracker->getPath();
  // RCLCPP_INFO_STREAM(getLogger(),"[UndoPathBackward] Current path backwards: " << forwardpath);
 
  odomTracker->setWorkingMode(WorkingMode::CLEAR_PATH);
 
  ClNitrosZ::Goal goal;
 
  auto goalCheckerSwitcher = nitroszClient_->getComponent<CpGoalCheckerSwitcher>();
 
  if (options_ && options_->goalCheckerId_)
  {
    goalCheckerSwitcher->setGoalCheckerId(*options_->goalCheckerId_);
  }
  else
  {
    goalCheckerSwitcher->setGoalCheckerId("undo_path_backwards_goal_checker");
  }
 
  // WARNING: There might be some race condition with the remote undo global planner were the global path was not
  // received yet
  // TODO: waiting notification from global planner that it is loaded
  rclcpp::sleep_for(1s);
 
  // this line is used to flush/reset backward planner in the case it were already there
  // plannerSwitcher->setDefaultPlanners();
  if (forwardpath.poses.size() > 0)
  {
    goal.pose = forwardpath.poses.front();
    //goal.pose.header.stamp = getNode()->now();
    goal.pose.header.stamp = rclcpp::Time(0);
 
    if (options_ && options_->undoControllerName_)
    {
      plannerSwitcher->setUndoPathBackwardPlanner(false);
      RCLCPP_INFO_STREAM(
        getLogger(),
        "[" << getName() << "] Undoing path with controller: " << *options_->undoControllerName_);
      plannerSwitcher->setDesiredController(*options_->undoControllerName_);
      plannerSwitcher->commitPublish();
    }
    else
    {
      plannerSwitcher->setUndoPathBackwardPlanner();
    }
 
    this->sendGoal(goal);
  }
}

References smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), cl_nitrosz::odom_tracker::CpOdomTracker::getPath(), listener, cl_nitrosz::odom_tracker::CpOdomTracker::logStateString(), cl_nitrosz::CbNav2ZClientBehaviorBase::nitroszClient_, odomTracker, options_, cl_nitrosz::CbNav2ZClientBehaviorBase::sendGoal(), cl_nitrosz::CpGoalCheckerSwitcher::setGoalCheckerId(), and cl_nitrosz::odom_tracker::CpOdomTracker::setWorkingMode().

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◆ onExit()

void cl_nitrosz::CbUndoPathBackwards::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 96 of file cb_undo_path_backwards.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Exiting: undo navigation ");
 
  if (this->navigationResult_ == rclcpp_action::ResultCode::SUCCEEDED)
  {
    RCLCPP_INFO_STREAM(
      getLogger(), getName() << " - [CbUndoPathBackwards] Exiting: undo navigation successful, "
                                "popping odom tracker path");
    odomTracker = nitroszClient_->getComponent<CpOdomTracker>();
    odomTracker->popPath();
 
    odomTracker->logStateString(false);
  }
  else
  {
    RCLCPP_INFO_STREAM(
      getLogger(), getName() << " - [CbUndoPathBackwards] Exiting: undo navigation abort, avoiding "
                                "popping current path");
 
    odomTracker = nitroszClient_->getComponent<CpOdomTracker>();
    odomTracker->logStateString(false);
    // navigation interrupted or aborted. The path may be not totally undone.
    // We keep the odom tracker in its current state, probably in the middle of the undoing process.
    // Could you try to repeat the behavior?
  }
}

References smacc2::ISmaccClient::getComponent(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_nitrosz::odom_tracker::CpOdomTracker::logStateString(), cl_nitrosz::CbNav2ZClientBehaviorBase::navigationResult_, cl_nitrosz::CbNav2ZClientBehaviorBase::nitroszClient_, odomTracker, and cl_nitrosz::odom_tracker::CpOdomTracker::popPath().

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Member Data Documentation

◆ listener

std::shared_ptr<tf2_ros::Buffer> cl_nitrosz::CbUndoPathBackwards::listener

private

Definition at line 50 of file cb_undo_path_backwards.hpp.

Referenced by onEntry().

◆ odomTracker

CpOdomTracker* cl_nitrosz::CbUndoPathBackwards::odomTracker

private

Definition at line 52 of file cb_undo_path_backwards.hpp.

Referenced by onEntry(), and onExit().

◆ options_

std::optional<CbUndoPathBackwardsOptions> cl_nitrosz::CbUndoPathBackwards::options_

private

Definition at line 54 of file cb_undo_path_backwards.hpp.

Referenced by CbUndoPathBackwards(), and onEntry().

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

smacc2_client_library/nitrosz_client/nitrosz_client/include/nitrosz_client/client_behaviors/cb_undo_path_backwards.hpp
smacc2_client_library/nitrosz_client/nitrosz_client/src/nitrosz_client/client_behaviors/cb_undo_path_backwards.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbUndoPathBackwards()

Member Function Documentation

◆ onEntry()

◆ onExit()

Member Data Documentation

◆ listener

◆ odomTracker

◆ options_