cl_px4_mr::CbArmPX4 Class Reference

#include <cb_arm_px4.hpp>

Inheritance diagram for cl_px4_mr::CbArmPX4:

Collaboration diagram for cl_px4_mr::CbArmPX4:

Public Member Functions
	CbArmPX4 ()
void	onEntry () override
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)

Private Member Functions
void	onArmedCallback ()

Private Attributes
CpVehicleCommand *	vehicleCommand_ = nullptr
CpVehicleStatus *	vehicleStatus_ = nullptr
CpOffboardKeepAlive *	offboardKeepAlive_ = nullptr
std::atomic< bool >	armed_ {false}

Static Private Attributes
static constexpr int	MAX_RETRIES = 5
static constexpr int	RETRY_INTERVAL_SEC = 5

Additional Inherited Members
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

Detailed Description

Definition at line 27 of file cb_arm_px4.hpp.

Constructor & Destructor Documentation

CbArmPX4()

cl_px4_mr::CbArmPX4::CbArmPX4

(

)

Definition at line 26 of file cb_arm_px4.cpp.

{}

Member Function Documentation

onArmedCallback()

void cl_px4_mr::CbArmPX4::onArmedCallback ( )

private

Definition at line 92 of file cb_arm_px4.cpp.

{ armed_ = true; }

References armed_.

Referenced by onEntry().

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onEntry()

void cl_px4_mr::CbArmPX4::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 28 of file cb_arm_px4.cpp.

{
  this->requiresComponent(vehicleCommand_);
  this->requiresComponent(vehicleStatus_);
  this->requiresComponent(offboardKeepAlive_);
 
  this->getStateMachine()->createSignalConnection(
    vehicleStatus_->onArmed_, &CbArmPX4::onArmedCallback, this);
 
  // Enable offboard keepalive and set offboard mode so PX4's offboard signal
  // requirement is satisfied before arming. Without this, canArm() fails because
  // offboard_control_signal_lost is true when nav_state == OFFBOARD.
  if (!offboardKeepAlive_->isEnabled())
  {
    RCLCPP_INFO(getLogger(), "CbArmPX4: enabling offboard keepalive");
    offboardKeepAlive_->enable();
  }
 
  RCLCPP_INFO(getLogger(), "CbArmPX4: sending setOffboardMode command");
  vehicleCommand_->setOffboardMode();
 
  // Wait for PX4 to register offboard signal (needs at least one
  // offboard_control_mode message processed by PX4's health checks)
  RCLCPP_INFO(getLogger(), "CbArmPX4: waiting 2s for offboard signal registration...");
  std::this_thread::sleep_for(std::chrono::seconds(2));
 
  for (int attempt = 0; attempt < MAX_RETRIES; attempt++)
  {
    if (attempt < 2)
    {
      RCLCPP_INFO(
        getLogger(), "CbArmPX4: sending arm command (attempt %d/%d)", attempt + 1, MAX_RETRIES);
      vehicleCommand_->arm();
    }
    else
    {
      RCLCPP_WARN(getLogger(), "CbArmPX4: force-arming (attempt %d/%d)", attempt + 1, MAX_RETRIES);
      vehicleCommand_->forceArm();
    }
 
    // Wait for armed confirmation or timeout
    for (int i = 0; i < RETRY_INTERVAL_SEC * 10; i++)
    {
      if (armed_) break;
      std::this_thread::sleep_for(std::chrono::milliseconds(100));
    }
 
    if (armed_)
    {
      RCLCPP_INFO(getLogger(), "CbArmPX4: vehicle ARMED - posting success");
      this->postSuccessEvent();
      return;
    }
 
    RCLCPP_WARN(
      getLogger(), "CbArmPX4: attempt %d/%d timed out, retrying...", attempt + 1, MAX_RETRIES);
  }
 
  RCLCPP_ERROR(getLogger(), "CbArmPX4: all %d attempts failed - posting failure", MAX_RETRIES);
  this->postFailureEvent();
}

References cl_px4_mr::CpVehicleCommand::arm(), armed_, smacc2::ISmaccStateMachine::createSignalConnection(), cl_px4_mr::CpOffboardKeepAlive::enable(), cl_px4_mr::CpVehicleCommand::forceArm(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getStateMachine(), cl_px4_mr::CpOffboardKeepAlive::isEnabled(), MAX_RETRIES, offboardKeepAlive_, cl_px4_mr::CpVehicleStatus::onArmed_, onArmedCallback(), smacc2::SmaccAsyncClientBehavior::postFailureEvent(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresComponent(), RETRY_INTERVAL_SEC, cl_px4_mr::CpVehicleCommand::setOffboardMode(), vehicleCommand_, and vehicleStatus_.

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onExit()

void cl_px4_mr::CbArmPX4::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 90 of file cb_arm_px4.cpp.

{}

Member Data Documentation

armed_

std::atomic<bool> cl_px4_mr::CbArmPX4::armed_ {false}

private

Definition at line 41 of file cb_arm_px4.hpp.

{false};

Referenced by onArmedCallback(), and onEntry().

MAX_RETRIES

int cl_px4_mr::CbArmPX4::MAX_RETRIES = 5

staticconstexprprivate

Definition at line 42 of file cb_arm_px4.hpp.

Referenced by onEntry().

offboardKeepAlive_

CpOffboardKeepAlive* cl_px4_mr::CbArmPX4::offboardKeepAlive_ = nullptr

private

Definition at line 40 of file cb_arm_px4.hpp.

Referenced by onEntry().

RETRY_INTERVAL_SEC

int cl_px4_mr::CbArmPX4::RETRY_INTERVAL_SEC = 5

staticconstexprprivate

Definition at line 43 of file cb_arm_px4.hpp.

Referenced by onEntry().

vehicleCommand_

CpVehicleCommand* cl_px4_mr::CbArmPX4::vehicleCommand_ = nullptr

private

Definition at line 38 of file cb_arm_px4.hpp.

Referenced by onEntry().

vehicleStatus_

CpVehicleStatus* cl_px4_mr::CbArmPX4::vehicleStatus_ = nullptr

private

Definition at line 39 of file cb_arm_px4.hpp.

Referenced by onEntry().

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

• smacc2_client_library/cl_px4_mr/include/cl_px4_mr/client_behaviors/cb_arm_px4.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_arm_px4.cpp