#include <cb_hold_position.hpp>

Inheritance diagram for cl_px4_mr::CbHoldPosition:

Collaboration diagram for cl_px4_mr::CbHoldPosition:

Public Member Functions
	CbHoldPosition (float durationSeconds=5.0f)

void	onEntry () override

void	onExit () override

void	update () 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 Attributes
float	durationSeconds_

std::chrono::steady_clock::time_point	startTime_

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 27 of file cb_hold_position.hpp.

Constructor & Destructor Documentation

◆ CbHoldPosition()

cl_px4_mr::CbHoldPosition::CbHoldPosition ( float durationSeconds = 5.0f )

explicit

Definition at line 21 of file cb_hold_position.cpp.

21: durationSeconds_(durationSeconds) {}

cl_px4_mr::CbHoldPosition::durationSeconds_

float durationSeconds_

Definition cb_hold_position.hpp:37

Member Function Documentation

◆ onEntry()

void cl_px4_mr::CbHoldPosition::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 23 of file cb_hold_position.cpp.

{
  RCLCPP_INFO(getLogger(), "CbHoldPosition: holding position for %.1f seconds", durationSeconds_);
 
  trajectorySetpoint_->hold();
  startTime_ = std::chrono::steady_clock::now();
}

References durationSeconds_, smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CpTrajectorySetpoint::hold(), startTime_, and cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_.

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◆ onExit()

void cl_px4_mr::CbHoldPosition::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 31 of file cb_hold_position.cpp.

31{}

◆ update()

void cl_px4_mr::CbHoldPosition::update ( )

overridevirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 33 of file cb_hold_position.cpp.

{
  CbPx4ClientBehaviorBase::update();
 
  auto now = std::chrono::steady_clock::now();
  double elapsed = std::chrono::duration<double>(now - startTime_).count();
 
  if (elapsed >= durationSeconds_)
  {
    RCLCPP_INFO(
      getLogger(), "CbHoldPosition: duration reached (%.1f s) - posting success", elapsed);
    this->postPx4Success();
  }
}

References durationSeconds_, smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Success(), startTime_, and cl_px4_mr::CbPx4ClientBehaviorBase::update().

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Member Data Documentation

◆ durationSeconds_

float cl_px4_mr::CbHoldPosition::durationSeconds_

private

Definition at line 37 of file cb_hold_position.hpp.

Referenced by onEntry(), and update().

◆ startTime_

std::chrono::steady_clock::time_point cl_px4_mr::CbHoldPosition::startTime_

private

Definition at line 38 of file cb_hold_position.hpp.

Referenced by onEntry(), and update().

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

smacc2_client_library/cl_px4_mr/include/cl_px4_mr/client_behaviors/cb_hold_position.hpp
smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_hold_position.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbHoldPosition()

Member Function Documentation

◆ onEntry()

◆ onExit()

◆ update()

Member Data Documentation

◆ durationSeconds_

◆ startTime_