cl_px4_mr::CbLoadKmlMission Class Reference

#include <cb_load_kml_mission.hpp>

Inheritance diagram for cl_px4_mr::CbLoadKmlMission:

Collaboration diagram for cl_px4_mr::CbLoadKmlMission:

Public Member Functions
	CbLoadKmlMission (std::string absoluteKmlPath, std::vector< GeoPoint > fallbackBackbone={})
void	setFilePath (const std::string &absoluteKmlPath)
void	setFallback (std::vector< GeoPoint > fallbackBackbone)
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
void	onEntry () 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)
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
CpKmlMissionLoader *	kmlLoader_ = nullptr
std::string	path_
std::vector< GeoPoint >	fallback_

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 40 of file cb_load_kml_mission.hpp.

Constructor & Destructor Documentation

CbLoadKmlMission()

cl_px4_mr::CbLoadKmlMission::CbLoadKmlMission ( std::string absoluteKmlPath, std::vector< GeoPoint > fallbackBackbone = {} )

explicit

Definition at line 21 of file cb_load_kml_mission.cpp.

: path_(std::move(absoluteKmlPath)), fallback_(std::move(fallbackBackbone))
{
}

Member Function Documentation

onEntry()

void cl_px4_mr::CbLoadKmlMission::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 27 of file cb_load_kml_mission.cpp.

{
  if (kmlLoader_ == nullptr)
  {
    RCLCPP_ERROR(getLogger(), "CbLoadKmlMission: CpKmlMissionLoader component missing");
    this->postPx4Failure();
    return;
  }
 
  RCLCPP_INFO(getLogger(), "CbLoadKmlMission: loading backbone from '%s'", path_.c_str());
  const KmlLoadResult result = kmlLoader_->loadFile(path_);
 
  if (result.ok)
  {
    RCLCPP_INFO(
      getLogger(), "CbLoadKmlMission: %zu backbone points loaded from file", result.pointCount);
    this->postPx4Success();
    return;
  }
 
  if (!fallback_.empty())
  {
    kmlLoader_->setMission(fallback_, "fallback:compiled-in");
    RCLCPP_WARN(
      getLogger(),
      "CbLoadKmlMission: KML unavailable (%s) - using compiled-in fallback backbone (%zu points)",
      result.error.c_str(), fallback_.size());
    this->postPx4Success();
    return;
  }
 
  RCLCPP_ERROR(
    getLogger(), "CbLoadKmlMission: KML unavailable (%s) and no fallback backbone supplied",
    result.error.c_str());
  this->postPx4Failure();
}

References cl_px4_mr::KmlLoadResult::error, fallback_, smacc2::ISmaccClientBehavior::getLogger(), kmlLoader_, cl_px4_mr::CpKmlMissionLoader::loadFile(), cl_px4_mr::KmlLoadResult::ok, path_, cl_px4_mr::KmlLoadResult::pointCount, cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Failure(), cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Success(), and cl_px4_mr::CpKmlMissionLoader::setMission().

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onExit()

void cl_px4_mr::CbLoadKmlMission::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 64 of file cb_load_kml_mission.cpp.

{}

onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_px4_mr::CbLoadKmlMission::onStateOrthogonalAllocation ( )

inline

Definition at line 53 of file cb_load_kml_mission.hpp.

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

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

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setFallback()

void cl_px4_mr::CbLoadKmlMission::setFallback ( std::vector< GeoPoint > fallbackBackbone )

inline

Definition at line 47 of file cb_load_kml_mission.hpp.

  {
    fallback_ = std::move(fallbackBackbone);
  }

References fallback_.

setFilePath()

void cl_px4_mr::CbLoadKmlMission::setFilePath ( const std::string & absoluteKmlPath )

inline

Definition at line 46 of file cb_load_kml_mission.hpp.

{ path_ = absoluteKmlPath; }

References path_.

Member Data Documentation

fallback_

std::vector<GeoPoint> cl_px4_mr::CbLoadKmlMission::fallback_

private

Definition at line 65 of file cb_load_kml_mission.hpp.

Referenced by onEntry(), and setFallback().

kmlLoader_

CpKmlMissionLoader* cl_px4_mr::CbLoadKmlMission::kmlLoader_ = nullptr

private

Definition at line 63 of file cb_load_kml_mission.hpp.

Referenced by onEntry(), and onStateOrthogonalAllocation().

path_

std::string cl_px4_mr::CbLoadKmlMission::path_

private

Definition at line 64 of file cb_load_kml_mission.hpp.

Referenced by onEntry(), and setFilePath().

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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_load_kml_mission.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_load_kml_mission.cpp