cl_px4_mr::CbConnectMicroRosAgent Class Reference

#include <cb_connect_micro_ros_agent.hpp>

Inheritance diagram for cl_px4_mr::CbConnectMicroRosAgent:

Collaboration diagram for cl_px4_mr::CbConnectMicroRosAgent:

Public Member Functions
	CbConnectMicroRosAgent (double timeoutSec=30.0)
void	onEntry () override
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
void	onExit () override
Public Member Functions inherited from cl_px4_mr::CbPx4ClientBehaviorBase
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
virtual	~CbPx4ClientBehaviorBase ()
void	setTimeout (std::chrono::milliseconds timeout)
bool	hasTimeout () const
void	update () 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)
Public Member Functions inherited from smacc2::ISmaccUpdatable
	ISmaccUpdatable ()
	ISmaccUpdatable (rclcpp::Duration duration)
void	executeUpdate (rclcpp::Node::SharedPtr node)
void	setUpdatePeriod (rclcpp::Duration duration)

Private Attributes
CpMicroRosAgent *	microRosAgent_ = nullptr
double	timeoutSec_
rclcpp::Rate	rate_
rclcpp::Subscription< px4_msgs::msg::FailsafeFlags >::SharedPtr	failsafeSub_
std::atomic< bool >	healthOk_ {false}
std::atomic< bool >	attitudeInvalid_ {true}
std::atomic< bool >	localAltitudeInvalid_ {true}
std::atomic< bool >	localPositionInvalid_ {true}

Additional Inherited Members
Protected Member Functions inherited from cl_px4_mr::CbPx4ClientBehaviorBase
virtual void	wireCompletionSignals ()
void	postPx4Success ()
void	postPx4Failure ()
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 Member Functions inherited from smacc2::ISmaccUpdatable
Protected Attributes inherited from cl_px4_mr::CbPx4ClientBehaviorBase
CpVehicleCommand *	vehicleCommand_ = nullptr
CpVehicleStatus *	vehicleStatus_ = nullptr
CpTrajectorySetpoint *	trajectorySetpoint_ = nullptr
CpGoalChecker *	goalChecker_ = nullptr
CpVehicleLocalPosition *	localPosition_ = nullptr
CpOffboardKeepAlive *	offboardKeepAlive_ = nullptr

Detailed Description

Definition at line 29 of file cb_connect_micro_ros_agent.hpp.

Constructor & Destructor Documentation

CbConnectMicroRosAgent()

cl_px4_mr::CbConnectMicroRosAgent::CbConnectMicroRosAgent

(

double

timeoutSec = 30.0

)

Definition at line 24 of file cb_connect_micro_ros_agent.cpp.

: timeoutSec_(timeoutSec), rate_(5)
{
}

Member Function Documentation

onEntry()

void cl_px4_mr::CbConnectMicroRosAgent::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 29 of file cb_connect_micro_ros_agent.cpp.

{
  if (!microRosAgent_->isLaunched())
  {
    RCLCPP_INFO(getLogger(), "CbConnectMicroRosAgent: launching micro_ros_agent...");
    microRosAgent_->launch();
  }
 
  std::string targetNodeName = microRosAgent_->getNodeName();
  RCLCPP_INFO(
    getLogger(), "CbConnectMicroRosAgent: waiting for node '%s' (timeout %.1fs)",
    targetNodeName.c_str(), timeoutSec_);
 
  auto startTime = std::chrono::steady_clock::now();
  bool found = false;
 
  while (!this->isShutdownRequested() && !found)
  {
    // Check timeout
    auto elapsed = std::chrono::steady_clock::now() - startTime;
    double elapsedSec = std::chrono::duration<double>(elapsed).count();
    if (elapsedSec > timeoutSec_)
    {
      RCLCPP_ERROR(
        getLogger(), "CbConnectMicroRosAgent: timeout (%.1fs) waiting for '%s'", timeoutSec_,
        targetNodeName.c_str());
      this->postPx4Failure();
      return;
    }
 
    // Poll for node
    std::stringstream ss;
    auto nodeNames = getNode()->get_node_names();
 
    for (const auto & n : nodeNames)
    {
      ss << " - " << n << std::endl;
 
      if (n == targetNodeName)
      {
        found = true;
      }
    }
 
    RCLCPP_INFO_STREAM(
      getLogger(), "[" << getName() << "] listing nodes (" << nodeNames.size() << ")" << std::endl
                       << ss.str());
 
    rate_.sleep();
  }
 
  if (!found)
  {
    RCLCPP_WARN(getLogger(), "CbConnectMicroRosAgent: shutdown requested before node found");
    this->postPx4Failure();
    return;
  }
 
  RCLCPP_INFO(
    getLogger(), "CbConnectMicroRosAgent: node '%s' detected - starting failsafe health check",
    targetNodeName.c_str());
 
  // Phase 2: Wait for PX4 failsafe health flags to clear
  healthOk_.store(false);
  attitudeInvalid_.store(true);
  localAltitudeInvalid_.store(true);
  localPositionInvalid_.store(true);
 
  failsafeSub_ = getNode()->create_subscription<px4_msgs::msg::FailsafeFlags>(
    "/fmu/out/failsafe_flags", rclcpp::SensorDataQoS(),
    [this](const px4_msgs::msg::FailsafeFlags::SharedPtr msg)
    {
      attitudeInvalid_.store(msg->attitude_invalid);
      localAltitudeInvalid_.store(msg->local_altitude_invalid);
      localPositionInvalid_.store(msg->local_position_invalid);
      healthOk_.store(
        !msg->attitude_invalid && !msg->local_altitude_invalid && !msg->local_position_invalid);
    });
 
  // the failsafe flags say an estimate exists; the local position and velocity
  // also have to be valid. NOT heading_good_for_control: with a magnetometer
  // heading PX4 only sets it after the in-flight yaw alignment (moving with GPS
  // course), so on the ground it is false by design; it is logged for diagnosis.
  auto controlReady = [this]()
  {
    return localPosition_ == nullptr ||
           (localPosition_->isValid() && localPosition_->isVelocityValid());
  };
  auto flag = [this](bool (CpVehicleLocalPosition::*f)() const)
  { return localPosition_ ? static_cast<int>((localPosition_->*f)()) : -1; };
  rclcpp::Rate healthRate(2.0);
  while (!this->isShutdownRequested() && !(healthOk_.load() && controlReady()))
  {
    auto elapsed = std::chrono::steady_clock::now() - startTime;
    double elapsedSec = std::chrono::duration<double>(elapsed).count();
    if (elapsedSec > timeoutSec_)
    {
      RCLCPP_ERROR(
        getLogger(),
        "CbConnectMicroRosAgent: timeout (%.1fs) waiting for health check. "
        "attitude_invalid=%d, local_altitude_invalid=%d, local_position_invalid=%d, "
        "heading_good_for_control=%d, velocity_valid=%d",
        timeoutSec_, attitudeInvalid_.load(), localAltitudeInvalid_.load(),
        localPositionInvalid_.load(), flag(&CpVehicleLocalPosition::isHeadingGoodForControl),
        flag(&CpVehicleLocalPosition::isVelocityValid));
      this->postPx4Failure();
      return;
    }
    RCLCPP_INFO(
      getLogger(),
      "CbConnectMicroRosAgent: health check: attitude_invalid=%d, "
      "local_altitude_invalid=%d, local_position_invalid=%d, heading_good_for_control=%d, "
      "velocity_valid=%d",
      attitudeInvalid_.load(), localAltitudeInvalid_.load(), localPositionInvalid_.load(),
      flag(&CpVehicleLocalPosition::isHeadingGoodForControl),
      flag(&CpVehicleLocalPosition::isVelocityValid));
    healthRate.sleep();
  }
  if (healthOk_.load() && controlReady())
  {
    RCLCPP_INFO(getLogger(), "CbConnectMicroRosAgent: health check passed - posting success");
    this->postPx4Success();
  }
  else
  {
    RCLCPP_WARN(
      getLogger(), "CbConnectMicroRosAgent: shutdown requested before health check passed");
    this->postPx4Failure();
  }
}

References attitudeInvalid_, failsafeSub_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getName(), smacc2::ISmaccClientBehavior::getNode(), cl_px4_mr::CpMicroRosAgent::getNodeName(), healthOk_, cl_px4_mr::CpVehicleLocalPosition::isHeadingGoodForControl(), cl_px4_mr::CpMicroRosAgent::isLaunched(), smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), cl_px4_mr::CpVehicleLocalPosition::isValid(), cl_px4_mr::CpVehicleLocalPosition::isVelocityValid(), cl_px4_mr::CpMicroRosAgent::launch(), localAltitudeInvalid_, cl_px4_mr::CbPx4ClientBehaviorBase::localPosition_, localPositionInvalid_, microRosAgent_, cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Failure(), cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Success(), rate_, and timeoutSec_.

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onExit()

void cl_px4_mr::CbConnectMicroRosAgent::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 160 of file cb_connect_micro_ros_agent.cpp.

{ failsafeSub_.reset(); }

References failsafeSub_.

onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_px4_mr::CbConnectMicroRosAgent::onStateOrthogonalAllocation ( )

inline

Definition at line 37 of file cb_connect_micro_ros_agent.hpp.

  {
    this->requiresComponent(microRosAgent_, smacc2::ComponentRequirement::SOFT);
    CbPx4ClientBehaviorBase::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References microRosAgent_, cl_px4_mr::CbPx4ClientBehaviorBase::onStateOrthogonalAllocation(), smacc2::ISmaccClientBehavior::requiresComponent(), and smacc2::SOFT.

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Member Data Documentation

attitudeInvalid_

std::atomic<bool> cl_px4_mr::CbConnectMicroRosAgent::attitudeInvalid_ {true}

private

Definition at line 51 of file cb_connect_micro_ros_agent.hpp.

{true};

Referenced by onEntry().

failsafeSub_

rclcpp::Subscription<px4_msgs::msg::FailsafeFlags>::SharedPtr cl_px4_mr::CbConnectMicroRosAgent::failsafeSub_

private

Definition at line 49 of file cb_connect_micro_ros_agent.hpp.

Referenced by onEntry(), and onExit().

healthOk_

std::atomic<bool> cl_px4_mr::CbConnectMicroRosAgent::healthOk_ {false}

private

Definition at line 50 of file cb_connect_micro_ros_agent.hpp.

{false};

Referenced by onEntry().

localAltitudeInvalid_

std::atomic<bool> cl_px4_mr::CbConnectMicroRosAgent::localAltitudeInvalid_ {true}

private

Definition at line 52 of file cb_connect_micro_ros_agent.hpp.

{true};

Referenced by onEntry().

localPositionInvalid_

std::atomic<bool> cl_px4_mr::CbConnectMicroRosAgent::localPositionInvalid_ {true}

private

Definition at line 53 of file cb_connect_micro_ros_agent.hpp.

{true};

Referenced by onEntry().

microRosAgent_

CpMicroRosAgent* cl_px4_mr::CbConnectMicroRosAgent::microRosAgent_ = nullptr

private

Definition at line 45 of file cb_connect_micro_ros_agent.hpp.

Referenced by onEntry(), and onStateOrthogonalAllocation().

rate_

rclcpp::Rate cl_px4_mr::CbConnectMicroRosAgent::rate_

private

Definition at line 47 of file cb_connect_micro_ros_agent.hpp.

Referenced by onEntry().

timeoutSec_

double cl_px4_mr::CbConnectMicroRosAgent::timeoutSec_

private

Definition at line 46 of file cb_connect_micro_ros_agent.hpp.

Referenced by onEntry().

---

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

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