cl_px4_mr::CbChangeAltitude Class Reference

#include <cb_change_altitude.hpp>

Inheritance diagram for cl_px4_mr::CbChangeAltitude:

Collaboration diagram for cl_px4_mr::CbChangeAltitude:

Public Member Functions
	CbChangeAltitude (float targetAltitude)
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	onGoalReachedCallback ()

Private Attributes
float	targetAltitude_
CpTrajectorySetpoint *	trajectorySetpoint_ = nullptr
CpGoalChecker *	goalChecker_ = nullptr
CpVehicleLocalPosition *	localPosition_ = nullptr

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 26 of file cb_change_altitude.hpp.

Constructor & Destructor Documentation

CbChangeAltitude()

cl_px4_mr::CbChangeAltitude::CbChangeAltitude ( float targetAltitude )

explicit

Definition at line 23 of file cb_change_altitude.cpp.

: targetAltitude_(targetAltitude) {}

Member Function Documentation

onEntry()

void cl_px4_mr::CbChangeAltitude::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 25 of file cb_change_altitude.cpp.

{
  this->requiresComponent(trajectorySetpoint_);
  this->requiresComponent(goalChecker_);
  this->requiresComponent(localPosition_);
 
  this->getStateMachine()->createSignalConnection(
    goalChecker_->onGoalReached_, &CbChangeAltitude::onGoalReachedCallback, this);
 
  float currentX = localPosition_->getX();
  float currentY = localPosition_->getY();
  float currentHeading = localPosition_->getHeading();
  float targetZ = -targetAltitude_;  // NED: up is negative Z
 
  RCLCPP_INFO(
    getLogger(), "CbChangeAltitude: changing altitude to %.2f m (NED z=%.2f)", targetAltitude_,
    targetZ);
 
  trajectorySetpoint_->setPositionNED(currentX, currentY, targetZ, currentHeading);
  goalChecker_->setGoal(currentX, currentY, targetZ, 0.5f, 0.3f);
}

References smacc2::ISmaccStateMachine::createSignalConnection(), cl_px4_mr::CpVehicleLocalPosition::getHeading(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getStateMachine(), cl_px4_mr::CpVehicleLocalPosition::getX(), cl_px4_mr::CpVehicleLocalPosition::getY(), goalChecker_, localPosition_, cl_px4_mr::CpGoalChecker::onGoalReached_, onGoalReachedCallback(), smacc2::ISmaccClientBehavior::requiresComponent(), cl_px4_mr::CpGoalChecker::setGoal(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), targetAltitude_, and trajectorySetpoint_.

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onExit()

void cl_px4_mr::CbChangeAltitude::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 47 of file cb_change_altitude.cpp.

{ goalChecker_->clearGoal(); }

References cl_px4_mr::CpGoalChecker::clearGoal(), and goalChecker_.

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onGoalReachedCallback()

void cl_px4_mr::CbChangeAltitude::onGoalReachedCallback ( )

private

Definition at line 49 of file cb_change_altitude.cpp.

{
  RCLCPP_INFO(getLogger(), "CbChangeAltitude: target altitude reached - posting success");
  this->postSuccessEvent();
}

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

Referenced by onEntry().

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Member Data Documentation

goalChecker_

CpGoalChecker* cl_px4_mr::CbChangeAltitude::goalChecker_ = nullptr

private

Definition at line 39 of file cb_change_altitude.hpp.

Referenced by onEntry(), and onExit().

localPosition_

CpVehicleLocalPosition* cl_px4_mr::CbChangeAltitude::localPosition_ = nullptr

private

Definition at line 40 of file cb_change_altitude.hpp.

Referenced by onEntry().

targetAltitude_

float cl_px4_mr::CbChangeAltitude::targetAltitude_

private

Definition at line 37 of file cb_change_altitude.hpp.

Referenced by onEntry().

trajectorySetpoint_

CpTrajectorySetpoint* cl_px4_mr::CbChangeAltitude::trajectorySetpoint_ = nullptr

private

Definition at line 38 of file cb_change_altitude.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_change_altitude.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_change_altitude.cpp