cb_land.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_land.hpp>
#include <cl_px4_mr/components/cp_offboard_keep_alive.hpp>
#include <cl_px4_mr/components/cp_vehicle_command.hpp>
#include <cl_px4_mr/components/cp_vehicle_status.hpp>
 
namespace cl_px4_mr
{
 
CbLand::CbLand() {}
 
void CbLand::onEntry()
{
  // Connect to disarmed signal - PX4 auto-disarms after landing
 
  // Disable offboard keepalive - land command uses its own mode
  offboardKeepAlive_->disable();
 
  RCLCPP_INFO(getLogger(), "CbLand: sending land command");
  vehicleCommand_->land();
}
 
void CbLand::onExit() {}
 
void CbLand::onLandedCallback()
{
  RCLCPP_INFO(getLogger(), "CbLand: vehicle landed and disarmed - posting success");
  this->postPx4Success();
}
 
void CbLand::wireCompletionSignals()
{
  if (vehicleStatus_ != nullptr)
  {
    this->getStateMachine()->createSignalConnection(
      vehicleStatus_->onDisarmed_, &CbLand::onLandedCallback, this);
  }
  else
  {
    RCLCPP_WARN(getLogger(), "CbLand: completion component missing, no completion signal wired");
  }
}
 
}  // namespace cl_px4_mr