cl_px4_mr::CbDisarmPX4 Class Reference

#include <cb_disarm_px4.hpp>

Inheritance diagram for cl_px4_mr::CbDisarmPX4:

Collaboration diagram for cl_px4_mr::CbDisarmPX4:

Public Member Functions
	CbDisarmPX4 ()
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	onDisarmedCallback ()

Private Attributes
CpVehicleCommand *	vehicleCommand_ = nullptr
CpVehicleStatus *	vehicleStatus_ = nullptr
int	retryCount_ = 0

Static Private Attributes
static constexpr int	MAX_RETRIES = 3

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 25 of file cb_disarm_px4.hpp.

Constructor & Destructor Documentation

CbDisarmPX4()

cl_px4_mr::CbDisarmPX4::CbDisarmPX4

(

)

Definition at line 22 of file cb_disarm_px4.cpp.

{}

Member Function Documentation

onDisarmedCallback()

void cl_px4_mr::CbDisarmPX4::onDisarmedCallback ( )

private

Definition at line 40 of file cb_disarm_px4.cpp.

{
  RCLCPP_INFO(getLogger(), "CbDisarmPX4: vehicle DISARMED - posting success");
  this->postSuccessEvent();
}

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

Referenced by onEntry().

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onEntry()

void cl_px4_mr::CbDisarmPX4::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 24 of file cb_disarm_px4.cpp.

{
  this->requiresComponent(vehicleCommand_);
  this->requiresComponent(vehicleStatus_);
 
  this->getStateMachine()->createSignalConnection(
    vehicleStatus_->onDisarmed_, &CbDisarmPX4::onDisarmedCallback, this);
 
  RCLCPP_INFO(
    getLogger(), "CbDisarmPX4: sending disarm command (attempt %d/%d)", retryCount_ + 1,
    MAX_RETRIES);
  vehicleCommand_->disarm();
}

References smacc2::ISmaccStateMachine::createSignalConnection(), cl_px4_mr::CpVehicleCommand::disarm(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getStateMachine(), MAX_RETRIES, cl_px4_mr::CpVehicleStatus::onDisarmed_, onDisarmedCallback(), smacc2::ISmaccClientBehavior::requiresComponent(), retryCount_, vehicleCommand_, and vehicleStatus_.

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onExit()

void cl_px4_mr::CbDisarmPX4::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 38 of file cb_disarm_px4.cpp.

{}

Member Data Documentation

MAX_RETRIES

int cl_px4_mr::CbDisarmPX4::MAX_RETRIES = 3

staticconstexprprivate

Definition at line 39 of file cb_disarm_px4.hpp.

Referenced by onEntry().

retryCount_

int cl_px4_mr::CbDisarmPX4::retryCount_ = 0

private

Definition at line 38 of file cb_disarm_px4.hpp.

Referenced by onEntry().

vehicleCommand_

CpVehicleCommand* cl_px4_mr::CbDisarmPX4::vehicleCommand_ = nullptr

private

Definition at line 36 of file cb_disarm_px4.hpp.

Referenced by onEntry().

vehicleStatus_

CpVehicleStatus* cl_px4_mr::CbDisarmPX4::vehicleStatus_ = nullptr

private

Definition at line 37 of file cb_disarm_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_disarm_px4.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_disarm_px4.cpp