#include <cb_assisted_teleop.hpp>

Inheritance diagram for cl_nav2z::CbAssistedTeleop:

Collaboration diagram for cl_nav2z::CbAssistedTeleop:

Public Member Functions
	CbAssistedTeleop (std::chrono::seconds timeAllowance=std::chrono::seconds(30))

void	onEntry () override

Public Member Functions inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::AssistedTeleop >
void	onStateOrthogonalAllocation ()

virtual	~CbActionClientBehaviorBase ()

void	onExit () override

Public Member Functions inherited from smacc2::SmaccAsyncClientBehavior
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

virtual	~SmaccAsyncClientBehavior ()

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallback callback, T *object)

template<typename TCallback , typename T >
smacc2::SmaccSignalConnection	onFailure (TCallback callback, T *object)

void	requestForceFinish ()

void	executeOnEntry () override

void	executeOnExit () override

void	waitOnEntryThread (bool requestFinish)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onSuccess (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	onFinished (TCallbackMethod callback, T *object)

template<typename TCallbackMethod , typename T >
smacc2::SmaccSignalConnection	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, ComponentRequirement requirementType=ComponentRequirement::SOFT)

template<typename SmaccComponentType >
void	requiresComponent (std::string name, SmaccComponentType *&storage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

Protected Member Functions
void	onActionAbort (const WrappedResult &result) override

Protected Member Functions inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::AssistedTeleop >
bool	sendGoal (Goal &goal)

void	cancelGoal ()

virtual void	onActionSuccess (const WrappedResult &result)

virtual void	onActionAbort (const WrappedResult &result)

virtual void	onActionFeedback (const Feedback &)

void	setActionClientName (std::string name)

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

Private Attributes
std::chrono::seconds	timeAllowance_

Additional Inherited Members
Public Types inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::AssistedTeleop >
using	Goal

using	GoalHandle

using	WrappedResult

using	Feedback

using	ActionClientComponent

Protected Attributes inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::AssistedTeleop >
ActionClientComponent *	actionClient_

std::string	actionClientName_

rclcpp_action::ResultCode	actionResult_

std::chrono::milliseconds	goalResponseTimeout_

Detailed Description

Definition at line 31 of file cb_assisted_teleop.hpp.

Constructor & Destructor Documentation

◆ CbAssistedTeleop()

cl_nav2z::CbAssistedTeleop::CbAssistedTeleop ( std::chrono::seconds timeAllowance = std::chrono::seconds(30) )

explicit

Definition at line 20 of file cb_assisted_teleop.cpp.

: timeAllowance_(timeAllowance)
{
}

Member Function Documentation

◆ onActionAbort()

void cl_nav2z::CbAssistedTeleop::onActionAbort ( const WrappedResult & result )

overrideprotected

Definition at line 47 of file cb_assisted_teleop.cpp.

{
  if (
    result.result != nullptr &&
    result.result->error_code == nav2_msgs::action::AssistedTeleop::Result::TIMEOUT)
  {
    RCLCPP_INFO(
      getLogger(), "[%s] Teleop window completed (time allowance expired) - success",
      getName().c_str());
    this->postSuccessEvent();
    return;
  }
 
  smacc2::client_behavior_bases::CbActionClientBehaviorBase<
    nav2_msgs::action::AssistedTeleop>::onActionAbort(result);
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), onActionAbort(), and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

Referenced by onActionAbort().

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◆ onEntry()

void cl_nav2z::CbAssistedTeleop::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 25 of file cb_assisted_teleop.cpp.

{
  Goal goal;
  goal.time_allowance = rclcpp::Duration(timeAllowance_);
 
  if (timeAllowance_.count() > 0)
  {
    RCLCPP_INFO(
      getLogger(), "[%s] Assisted teleop for %ld s (collision-guarded, behavior server)",
      getName().c_str(), static_cast<long>(timeAllowance_.count()));
  }
  else
  {
    RCLCPP_INFO(
      getLogger(),
      "[%s] Assisted teleop, unlimited window (collision-guarded; ends on cancellation)",
      getName().c_str());
  }
 
  sendGoal(goal);
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::AssistedTeleop >::sendGoal(), and timeAllowance_.

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Member Data Documentation

◆ timeAllowance_

std::chrono::seconds cl_nav2z::CbAssistedTeleop::timeAllowance_

private

Definition at line 46 of file cb_assisted_teleop.hpp.

Referenced by onEntry().

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

smacc2_client_library/cl_nav2z/cl_nav2z/include/cl_nav2z/client_behaviors/cb_assisted_teleop.hpp
smacc2_client_library/cl_nav2z/cl_nav2z/src/cl_nav2z/client_behaviors/cb_assisted_teleop.cpp

Public Member Functions

Protected Member Functions

Private Attributes

Additional Inherited Members