cl_px4_mr::CbObstacleGuard Class Reference

#include <cb_obstacle_guard.hpp>

Inheritance diagram for cl_px4_mr::CbObstacleGuard:

Collaboration diagram for cl_px4_mr::CbObstacleGuard:

Public Member Functions
	CbObstacleGuard ()
virtual	~CbObstacleGuard ()
template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()
void	onEntry () override
void	onExit () override
Public Member Functions inherited from smacc2::SmaccClientBehavior
virtual	~SmaccClientBehavior ()
void	onEntry () override
void	onExit () override
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)
virtual void	executeOnEntry ()
virtual void	executeOnExit ()

Private Member Functions
void	onTooClose ()
void	onCleared ()

Private Attributes
CpForwardObstacleGuard *	guard_ = nullptr
std::function< void()>	postTooClose_
std::function< void()>	postCleared_

Additional Inherited Members
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 void	dispose ()
virtual rclcpp::Node::SharedPtr	getNode () const
virtual rclcpp::Logger	getLogger () const

Detailed Description

Definition at line 37 of file cb_obstacle_guard.hpp.

Constructor & Destructor Documentation

CbObstacleGuard()

cl_px4_mr::CbObstacleGuard::CbObstacleGuard

(

)

Definition at line 26 of file cb_obstacle_guard.cpp.

{}

~CbObstacleGuard()

cl_px4_mr::CbObstacleGuard::~CbObstacleGuard ( )

virtual

Definition at line 28 of file cb_obstacle_guard.cpp.

{}

Member Function Documentation

onCleared()

void cl_px4_mr::CbObstacleGuard::onCleared ( )

private

Definition at line 58 of file cb_obstacle_guard.cpp.

{
  if (postCleared_)
  {
    postCleared_();
  }
}

References postCleared_.

Referenced by onEntry().

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onEntry()

void cl_px4_mr::CbObstacleGuard::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 30 of file cb_obstacle_guard.cpp.

{
  this->requiresComponent(guard_);
  if (guard_ == nullptr)
  {
    RCLCPP_ERROR(
      getLogger(), "CbObstacleGuard: CpForwardObstacleGuard not found - obstacle events disabled");
    return;
  }
  // start from a clean slate: whatever the cone saw before this behavior
  // existed (the ground while on the pad, walls swept during a turn) is not a
  // detection; a real obstacle re-triggers within a couple of clouds
  guard_->reset();
  guard_->onObstacleTooClose(&CbObstacleGuard::onTooClose, this);
  guard_->onObstacleCleared(&CbObstacleGuard::onCleared, this);
  RCLCPP_INFO(getLogger(), "CbObstacleGuard: armed");
}

References smacc2::ISmaccClientBehavior::getLogger(), guard_, onCleared(), cl_px4_mr::CpForwardObstacleGuard::onObstacleCleared(), cl_px4_mr::CpForwardObstacleGuard::onObstacleTooClose(), onTooClose(), smacc2::ISmaccClientBehavior::requiresComponent(), and cl_px4_mr::CpForwardObstacleGuard::reset().

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onExit()

void cl_px4_mr::CbObstacleGuard::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 48 of file cb_obstacle_guard.cpp.

{ RCLCPP_INFO(getLogger(), "CbObstacleGuard: disarmed"); }

References smacc2::ISmaccClientBehavior::getLogger().

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onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_px4_mr::CbObstacleGuard::onStateOrthogonalAllocation ( )

inline

Definition at line 44 of file cb_obstacle_guard.hpp.

  {
    postTooClose_ = [this]() { this->postEvent<EvObstacleTooClose<TSourceObject, TOrthogonal>>(); };
    postCleared_ = [this]() { this->postEvent<EvObstacleCleared<TSourceObject, TOrthogonal>>(); };
  }

References postCleared_, smacc2::ISmaccClientBehavior::postEvent(), and postTooClose_.

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onTooClose()

void cl_px4_mr::CbObstacleGuard::onTooClose ( )

private

Definition at line 50 of file cb_obstacle_guard.cpp.

{
  if (postTooClose_)
  {
    postTooClose_();
  }
}

References postTooClose_.

Referenced by onEntry().

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Member Data Documentation

guard_

CpForwardObstacleGuard* cl_px4_mr::CbObstacleGuard::guard_ = nullptr

private

Definition at line 57 of file cb_obstacle_guard.hpp.

Referenced by onEntry().

postCleared_

std::function<void()> cl_px4_mr::CbObstacleGuard::postCleared_

private

Definition at line 59 of file cb_obstacle_guard.hpp.

Referenced by onCleared(), and onStateOrthogonalAllocation().

postTooClose_

std::function<void()> cl_px4_mr::CbObstacleGuard::postTooClose_

private

Definition at line 58 of file cb_obstacle_guard.hpp.

Referenced by onStateOrthogonalAllocation(), and onTooClose().

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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_obstacle_guard.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_obstacle_guard.cpp