#include <cb_undo_path_backwards.hpp>

Inheritance diagram for cl_nav2z::CbUndoPathBackwards:

Collaboration diagram for cl_nav2z::CbUndoPathBackwards:

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

void	onEntry () override

void	onExit () override

Public Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
virtual	~CbNav2ZClientBehaviorBase ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

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

virtual	~CbActionClientBehaviorBase ()

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)

Private Attributes
CpOdomTracker *	odomTracker

std::optional< CbUndoPathBackwardsOptions >	options_

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

using	GoalHandle

using	WrappedResult

using	Feedback

using	ActionClientComponent

Protected Member Functions inherited from cl_nav2z::CbNav2ZClientBehaviorBase
virtual void	onNavigationActionSuccess (const components::CpNav2ActionInterface::WrappedResult &)

virtual void	onNavigationActionAbort (const components::CpNav2ActionInterface::WrappedResult &)

void	onActionSuccess (const WrappedResult &result) override

void	onActionAbort (const WrappedResult &result) override

Protected Member Functions inherited from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::NavigateToPose >
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

Protected Attributes inherited from cl_nav2z::CbNav2ZClientBehaviorBase
components::CpNav2ActionInterface *	nav2ActionInterface_ = nullptr

rclcpp_action::ResultCode	navigationResult_ = rclcpp_action::ResultCode::UNKNOWN

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

std::string	actionClientName_

rclcpp_action::ResultCode	actionResult_

std::chrono::milliseconds	goalResponseTimeout_

Detailed Description

Definition at line 38 of file cb_undo_path_backwards.hpp.

Constructor & Destructor Documentation

◆ CbUndoPathBackwards()

cl_nav2z::CbUndoPathBackwards::CbUndoPathBackwards ( std::optional< CbUndoPathBackwardsOptions > options = std::nullopt )

Definition at line 34 of file cb_undo_path_backwards.cpp.

{
  options_ = options;
}

References options_.

Member Function Documentation

◆ onEntry()

void cl_nav2z::CbUndoPathBackwards::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 39 of file cb_undo_path_backwards.cpp.

{
  requiresComponent(odomTracker, ComponentRequirement::HARD);
 
  odomTracker->logStateString(false);
 
  CpPlannerSwitcher * plannerSwitcher;
  requiresComponent(plannerSwitcher, ComponentRequirement::HARD);
 
  nav_msgs::msg::Path forwardpath = odomTracker->getPath();
  // RCLCPP_INFO_STREAM(getLogger(),"[UndoPathBackward] Current path backwards: " << forwardpath);
 
  odomTracker->setWorkingMode(WorkingMode::CLEAR_PATH);
 
  nav2_msgs::action::NavigateToPose::Goal goal;
 
  CpGoalCheckerSwitcher * goalCheckerSwitcher;
  requiresComponent(goalCheckerSwitcher, ComponentRequirement::HARD);
 
  if (forwardpath.poses.size() > 0)
  {
    goal.pose = forwardpath.poses.front();
    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();
    }
 
    // The remote UndoPathGlobalPlanner receives the recorded trail via the
    // odom_tracker_path topic. Right after a popPath (chained undo) its cache may
    // still hold the previous, fully-consumed trail - a few poses under the robot -
    // which would make the goal checker succeed instantly without moving. The
    // tracker republishes at odom rate (~20-30 Hz), so a short settle guarantees
    // the planner sees the restored trail before the goal is accepted.
    // (This runs in the asynchronous onEntry thread: it does not block the state
    // machine. TODO: replace with an explicit ready handshake from the planner.)
    rclcpp::sleep_for(std::chrono::milliseconds(500));
 
    RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] activating undo navigation planner");
 
    if (options_ && options_->goalCheckerId_)
    {
      goalCheckerSwitcher->setGoalCheckerId(*options_->goalCheckerId_);
    }
    else
    {
      goalCheckerSwitcher->setGoalCheckerId("undo_path_backwards_goal_checker");
    }
 
    this->sendGoal(goal);
  }
}

References cl_nav2z::CpPlannerSwitcher::commitPublish(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_nav2z::odom_tracker::CpOdomTracker::getPath(), cl_nav2z::odom_tracker::CpOdomTracker::logStateString(), odomTracker, options_, smacc2::ISmaccClientBehavior::requiresComponent(), smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::NavigateToPose >::sendGoal(), cl_nav2z::CpPlannerSwitcher::setDesiredController(), cl_nav2z::CpGoalCheckerSwitcher::setGoalCheckerId(), cl_nav2z::CpPlannerSwitcher::setUndoPathBackwardPlanner(), and cl_nav2z::odom_tracker::CpOdomTracker::setWorkingMode().

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◆ onExit()

void cl_nav2z::CbUndoPathBackwards::onExit ( )

overridevirtual

Reimplemented from smacc2::client_behavior_bases::CbActionClientBehaviorBase< nav2_msgs::action::NavigateToPose >.

Definition at line 102 of file cb_undo_path_backwards.cpp.

{
  RCLCPP_INFO_STREAM(getLogger(), "[" << getName() << "] Exiting: undo navigation ");
 
  // NOTE: odomTracker was resolved in onEntry. Do NOT call requiresComponent here:
  // this method runs in the asynchronous onExit thread while the state machine
  // thread holds m_mutex_ during state disposal and joins this thread - a
  // requiresComponent lookup (which locks m_mutex_) deadlocks the state machine.
  if (this->navigationResult_ == rclcpp_action::ResultCode::SUCCEEDED)
  {
    RCLCPP_INFO_STREAM(
      getLogger(), getName() << " - [CbUndoPathBackwards] Exiting: undo navigation successful, "
                                "popping odom tracker path");
 
    odomTracker->popPath();
    odomTracker->logStateString(false);
  }
  else
  {
    RCLCPP_INFO_STREAM(
      getLogger(), getName() << " - [CbUndoPathBackwards] Exiting: undo navigation abort, avoiding "
                                "popping current path");
 
    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?
  }
 
  // Stop consuming the recorded path once the behavior is over: CLEAR_PATH must not
  // outlive this behavior, otherwise the tracker keeps eating paths recorded by
  // subsequent behaviors.
  odomTracker->setWorkingMode(WorkingMode::IDLE);
}

References smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), cl_nav2z::odom_tracker::CpOdomTracker::logStateString(), cl_nav2z::CbNav2ZClientBehaviorBase::navigationResult_, odomTracker, cl_nav2z::odom_tracker::CpOdomTracker::popPath(), and cl_nav2z::odom_tracker::CpOdomTracker::setWorkingMode().

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Member Data Documentation

◆ odomTracker

CpOdomTracker* cl_nav2z::CbUndoPathBackwards::odomTracker

private

Definition at line 48 of file cb_undo_path_backwards.hpp.

Referenced by onEntry(), and onExit().

◆ options_

std::optional<CbUndoPathBackwardsOptions> cl_nav2z::CbUndoPathBackwards::options_

private

Definition at line 50 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/cl_nav2z/cl_nav2z/include/cl_nav2z/client_behaviors/cb_undo_path_backwards.hpp
smacc2_client_library/cl_nav2z/cl_nav2z/src/cl_nav2z/client_behaviors/cb_undo_path_backwards.cpp

Public Member Functions

Private Attributes

Additional Inherited Members