cb_go_to_location.cpp

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// Copyright 2025 Robosoft Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include <cl_px4_mr/client_behaviors/cb_go_to_location.hpp>
#include <cl_px4_mr/components/cp_goal_checker.hpp>
#include <cl_px4_mr/components/cp_trajectory_setpoint.hpp>
 
namespace cl_px4_mr
{
 
CbGoToLocation::CbGoToLocation(float targetX, float targetY, float targetZ, float yaw)
: targetX_(targetX), targetY_(targetY), targetZ_(targetZ), yaw_(yaw)
{
}
 
void CbGoToLocation::setTarget(float targetX, float targetY, float targetZ, float yaw)
{
  targetX_ = targetX;
  targetY_ = targetY;
  targetZ_ = targetZ;
  yaw_ = yaw;
}
 
void CbGoToLocation::onEntry()
{
  RCLCPP_INFO(
    getLogger(), "CbGoToLocation: navigating to [%.2f, %.2f, %.2f] yaw=%.2f", targetX_, targetY_,
    targetZ_, yaw_);
 
  trajectorySetpoint_->setPositionNED(targetX_, targetY_, targetZ_, yaw_);
  goalChecker_->setGoal(targetX_, targetY_, targetZ_);
}
 
void CbGoToLocation::onExit() { goalChecker_->clearGoal(); }
 
void CbGoToLocation::onGoalReachedCallback()
{
  RCLCPP_INFO(getLogger(), "CbGoToLocation: goal reached - posting success");
  this->postPx4Success();
}
 
void CbGoToLocation::wireCompletionSignals()
{
  if (goalChecker_ != nullptr)
  {
    this->getStateMachine()->createSignalConnection(
      goalChecker_->onGoalReached_, &CbGoToLocation::onGoalReachedCallback, this);
  }
  else
  {
    RCLCPP_WARN(
      getLogger(), "CbGoToLocation: completion component missing, no completion signal wired");
  }
}
 
}  // namespace cl_px4_mr