cl_px4_mr::CbFollowWaypoints Class Reference

#include <cb_follow_waypoints.hpp>

Inheritance diagram for cl_px4_mr::CbFollowWaypoints:

Collaboration diagram for cl_px4_mr::CbFollowWaypoints:

Public Member Functions
	CbFollowWaypoints (std::vector< std::array< float, 4 > > waypoints, float xyTol=0.5f, float zTol=0.3f)
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 ()
void	commandCurrentWaypoint ()

Private Attributes
std::vector< std::array< float, 4 > >	waypoints_
float	xyTol_
float	zTol_
size_t	currentIndex_ = 0
CpTrajectorySetpoint *	trajectorySetpoint_ = nullptr
CpGoalChecker *	goalChecker_ = 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 28 of file cb_follow_waypoints.hpp.

Constructor & Destructor Documentation

CbFollowWaypoints()

cl_px4_mr::CbFollowWaypoints::CbFollowWaypoints	(	std::vector< std::array< float, 4 > >	waypoints,
		float	xyTol = 0.5f,
		float	zTol = 0.3f )

Definition at line 22 of file cb_follow_waypoints.cpp.

: waypoints_(std::move(waypoints)), xyTol_(xyTol), zTol_(zTol)
{
}

Member Function Documentation

commandCurrentWaypoint()

void cl_px4_mr::CbFollowWaypoints::commandCurrentWaypoint ( )

private

Definition at line 51 of file cb_follow_waypoints.cpp.

{
  const auto & wp = waypoints_[currentIndex_];
  float x = wp[0];
  float y = wp[1];
  float z = wp[2];
  float yaw = wp[3];
 
  RCLCPP_INFO(
    getLogger(), "CbFollowWaypoints: commanding waypoint %zu/%zu [%.2f, %.2f, %.2f] yaw=%.2f",
    currentIndex_ + 1, waypoints_.size(), x, y, z, yaw);
 
  trajectorySetpoint_->setPositionNED(x, y, z, yaw);
  goalChecker_->setGoal(x, y, z, xyTol_, zTol_);
}

References currentIndex_, smacc2::ISmaccClientBehavior::getLogger(), goalChecker_, cl_px4_mr::CpGoalChecker::setGoal(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), trajectorySetpoint_, waypoints_, xyTol_, and zTol_.

Referenced by onEntry(), and onGoalReachedCallback().

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onEntry()

void cl_px4_mr::CbFollowWaypoints::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 28 of file cb_follow_waypoints.cpp.

{
  this->requiresComponent(trajectorySetpoint_);
  this->requiresComponent(goalChecker_);
 
  this->getStateMachine()->createSignalConnection(
    goalChecker_->onGoalReached_, &CbFollowWaypoints::onGoalReachedCallback, this);
 
  if (waypoints_.empty())
  {
    RCLCPP_WARN(getLogger(), "CbFollowWaypoints: no waypoints provided - posting success");
    this->postSuccessEvent();
    return;
  }
 
  RCLCPP_INFO(getLogger(), "CbFollowWaypoints: following %zu waypoints", waypoints_.size());
 
  currentIndex_ = 0;
  commandCurrentWaypoint();
}

References commandCurrentWaypoint(), smacc2::ISmaccStateMachine::createSignalConnection(), currentIndex_, smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getStateMachine(), goalChecker_, cl_px4_mr::CpGoalChecker::onGoalReached_, onGoalReachedCallback(), smacc2::SmaccAsyncClientBehavior::postSuccessEvent(), smacc2::ISmaccClientBehavior::requiresComponent(), trajectorySetpoint_, and waypoints_.

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onExit()

void cl_px4_mr::CbFollowWaypoints::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 49 of file cb_follow_waypoints.cpp.

{ goalChecker_->clearGoal(); }

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

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onGoalReachedCallback()

void cl_px4_mr::CbFollowWaypoints::onGoalReachedCallback ( )

private

Definition at line 67 of file cb_follow_waypoints.cpp.

{
  currentIndex_++;
 
  if (currentIndex_ >= waypoints_.size())
  {
    RCLCPP_INFO(
      getLogger(), "CbFollowWaypoints: all %zu waypoints reached - posting success",
      waypoints_.size());
    this->postSuccessEvent();
  }
  else
  {
    commandCurrentWaypoint();
  }
}

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

Referenced by onEntry().

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Member Data Documentation

currentIndex_

size_t cl_px4_mr::CbFollowWaypoints::currentIndex_ = 0

private

Definition at line 44 of file cb_follow_waypoints.hpp.

Referenced by commandCurrentWaypoint(), onEntry(), and onGoalReachedCallback().

goalChecker_

CpGoalChecker* cl_px4_mr::CbFollowWaypoints::goalChecker_ = nullptr

private

Definition at line 47 of file cb_follow_waypoints.hpp.

Referenced by commandCurrentWaypoint(), onEntry(), and onExit().

trajectorySetpoint_

CpTrajectorySetpoint* cl_px4_mr::CbFollowWaypoints::trajectorySetpoint_ = nullptr

private

Definition at line 46 of file cb_follow_waypoints.hpp.

Referenced by commandCurrentWaypoint(), and onEntry().

waypoints_

std::vector<std::array<float, 4> > cl_px4_mr::CbFollowWaypoints::waypoints_

private

Definition at line 41 of file cb_follow_waypoints.hpp.

Referenced by commandCurrentWaypoint(), onEntry(), and onGoalReachedCallback().

xyTol_

float cl_px4_mr::CbFollowWaypoints::xyTol_

private

Definition at line 42 of file cb_follow_waypoints.hpp.

Referenced by commandCurrentWaypoint().

zTol_

float cl_px4_mr::CbFollowWaypoints::zTol_

private

Definition at line 43 of file cb_follow_waypoints.hpp.

Referenced by commandCurrentWaypoint().

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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_follow_waypoints.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_follow_waypoints.cpp