#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	wireCompletionSignals () override

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)

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 Member Functions
void	onGoalReachedCallback ()

void	commandCurrentWaypoint ()

Private Attributes
std::vector< std::array< float, 4 > >	waypoints_

float	xyTol_

float	zTol_

size_t	currentIndex_ = 0

Additional Inherited Members
Protected Member Functions inherited from cl_px4_mr::CbPx4ClientBehaviorBase
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 30 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 45 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(), cl_px4_mr::CbPx4ClientBehaviorBase::goalChecker_, cl_px4_mr::CpGoalChecker::setGoal(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), cl_px4_mr::CbPx4ClientBehaviorBase::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.

{
  if (waypoints_.empty())
  {
    RCLCPP_WARN(getLogger(), "CbFollowWaypoints: no waypoints provided - posting success");
    this->postPx4Success();
    return;
  }
 
  RCLCPP_INFO(getLogger(), "CbFollowWaypoints: following %zu waypoints", waypoints_.size());
 
  currentIndex_ = 0;
  commandCurrentWaypoint();
}

References commandCurrentWaypoint(), currentIndex_, smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Success(), and waypoints_.

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◆ onExit()

void cl_px4_mr::CbFollowWaypoints::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 43 of file cb_follow_waypoints.cpp.

43{ goalChecker_->clearGoal(); }

cl_px4_mr::CpGoalChecker::clearGoal

void clearGoal()

Definition cp_goal_checker.cpp:63

References cl_px4_mr::CpGoalChecker::clearGoal(), and cl_px4_mr::CbPx4ClientBehaviorBase::goalChecker_.

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◆ onGoalReachedCallback()

void cl_px4_mr::CbFollowWaypoints::onGoalReachedCallback ( )

private

Definition at line 61 of file cb_follow_waypoints.cpp.

{
  currentIndex_++;
 
  if (currentIndex_ >= waypoints_.size())
  {
    RCLCPP_INFO(
      getLogger(), "CbFollowWaypoints: all %zu waypoints reached - posting success",
      waypoints_.size());
    this->postPx4Success();
  }
  else
  {
    commandCurrentWaypoint();
  }
}

References commandCurrentWaypoint(), currentIndex_, smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Success(), and waypoints_.

Referenced by wireCompletionSignals().

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◆ wireCompletionSignals()

void cl_px4_mr::CbFollowWaypoints::wireCompletionSignals ( )

overridevirtual

Reimplemented from cl_px4_mr::CbPx4ClientBehaviorBase.

Definition at line 78 of file cb_follow_waypoints.cpp.

{
  if (goalChecker_ != nullptr)
  {
    this->getStateMachine()->createSignalConnection(
      goalChecker_->onGoalReached_, &CbFollowWaypoints::onGoalReachedCallback, this);
  }
  else
  {
    RCLCPP_WARN(
      getLogger(), "CbFollowWaypoints: completion component missing, no completion signal wired");
  }
}

References smacc2::ISmaccStateMachine::createSignalConnection(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getStateMachine(), cl_px4_mr::CbPx4ClientBehaviorBase::goalChecker_, cl_px4_mr::CpGoalChecker::onGoalReached_, and onGoalReachedCallback().

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Member Data Documentation

◆ currentIndex_

size_t cl_px4_mr::CbFollowWaypoints::currentIndex_ = 0

private

Definition at line 48 of file cb_follow_waypoints.hpp.

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

◆ waypoints_

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

private

Definition at line 45 of file cb_follow_waypoints.hpp.

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

◆ xyTol_

float cl_px4_mr::CbFollowWaypoints::xyTol_

private

Definition at line 46 of file cb_follow_waypoints.hpp.

Referenced by commandCurrentWaypoint().

◆ zTol_

float cl_px4_mr::CbFollowWaypoints::zTol_

private

Definition at line 47 of file cb_follow_waypoints.hpp.

Referenced by commandCurrentWaypoint().

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbFollowWaypoints()

Member Function Documentation

◆ commandCurrentWaypoint()

◆ onEntry()

◆ onExit()

◆ onGoalReachedCallback()

◆ wireCompletionSignals()

Member Data Documentation

◆ currentIndex_

◆ waypoints_

◆ xyTol_

◆ zTol_