#include <cb_px4_client_behavior_base.hpp>

Inheritance diagram for cl_px4_mr::CbPx4ClientBehaviorBase:

Collaboration diagram for cl_px4_mr::CbPx4ClientBehaviorBase:

Public Member Functions
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)

virtual void	onEntry ()

virtual void	onExit ()

Public Member Functions inherited from smacc2::ISmaccUpdatable
	ISmaccUpdatable ()

	ISmaccUpdatable (rclcpp::Duration duration)

void	executeUpdate (rclcpp::Node::SharedPtr node)

void	setUpdatePeriod (rclcpp::Duration duration)

Protected Member Functions
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
CpVehicleCommand *	vehicleCommand_ = nullptr

CpVehicleStatus *	vehicleStatus_ = nullptr

CpTrajectorySetpoint *	trajectorySetpoint_ = nullptr

CpGoalChecker *	goalChecker_ = nullptr

CpVehicleLocalPosition *	localPosition_ = nullptr

CpOffboardKeepAlive *	offboardKeepAlive_ = nullptr

Private Attributes
std::atomic< bool >	completed_ {false}

std::optional< std::chrono::milliseconds >	timeout_

std::optional< std::chrono::steady_clock::time_point >	watchdogStart_

Detailed Description

Definition at line 59 of file cb_px4_client_behavior_base.hpp.

Constructor & Destructor Documentation

◆ ~CbPx4ClientBehaviorBase()

virtual cl_px4_mr::CbPx4ClientBehaviorBase::~CbPx4ClientBehaviorBase ( )

inlinevirtual

Definition at line 79 of file cb_px4_client_behavior_base.hpp.

79{}

Member Function Documentation

◆ onStateOrthogonalAllocation()

template<typename TOrthogonal , typename TSourceObject >

void cl_px4_mr::CbPx4ClientBehaviorBase::onStateOrthogonalAllocation ( )

inline

Definition at line 64 of file cb_px4_client_behavior_base.hpp.

  {
    // shared component set; SOFT because each behavior uses a subset
    this->requiresComponent(vehicleCommand_, smacc2::ComponentRequirement::SOFT);
    this->requiresComponent(vehicleStatus_, smacc2::ComponentRequirement::SOFT);
    this->requiresComponent(trajectorySetpoint_, smacc2::ComponentRequirement::SOFT);
    this->requiresComponent(goalChecker_, smacc2::ComponentRequirement::SOFT);
    this->requiresComponent(localPosition_, smacc2::ComponentRequirement::SOFT);
    this->requiresComponent(offboardKeepAlive_, smacc2::ComponentRequirement::SOFT);
 
    this->wireCompletionSignals();
 
    smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation<TOrthogonal, TSourceObject>();
  }

References goalChecker_, localPosition_, offboardKeepAlive_, smacc2::SmaccAsyncClientBehavior::onStateOrthogonalAllocation(), smacc2::ISmaccClientBehavior::requiresComponent(), smacc2::SOFT, trajectorySetpoint_, vehicleCommand_, vehicleStatus_, and wireCompletionSignals().

Referenced by cl_px4_mr::CbConnectMicroRosAgent::onStateOrthogonalAllocation().

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◆ postPx4Failure()

void cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Failure ( )

inlineprotected

Definition at line 121 of file cb_px4_client_behavior_base.hpp.

  {
    if (!completed_.exchange(true))
    {
      this->postFailureEvent();
    }
  }

References completed_, and smacc2::SmaccAsyncClientBehavior::postFailureEvent().

Referenced by cl_px4_mr::CbArmPX4::onEntry(), cl_px4_mr::CbConnectMicroRosAgent::onEntry(), and update().

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◆ postPx4Success()

void cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Success ( )

inlineprotected

Definition at line 113 of file cb_px4_client_behavior_base.hpp.

  {
    if (!completed_.exchange(true))
    {
      this->postSuccessEvent();
    }
  }

References completed_, and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

Referenced by cl_px4_mr::CbDisarmPX4::onDisarmedCallback(), cl_px4_mr::CbArmPX4::onEntry(), cl_px4_mr::CbConnectMicroRosAgent::onEntry(), cl_px4_mr::CbFollowWaypoints::onEntry(), cl_px4_mr::CbChangeAltitude::onGoalReachedCallback(), cl_px4_mr::CbFollowWaypoints::onGoalReachedCallback(), cl_px4_mr::CbGoToLocation::onGoalReachedCallback(), cl_px4_mr::CbReturnToHome::onGoalReachedCallback(), cl_px4_mr::CbTakeOff::onGoalReachedCallback(), cl_px4_mr::CbLand::onLandedCallback(), cl_px4_mr::CbFigureEight::update(), cl_px4_mr::CbHoldPosition::update(), cl_px4_mr::CbOrbitLocation::update(), cl_px4_mr::CbSpiralPattern::update(), and cl_px4_mr::CbYawRotate::update().

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◆ setTimeout()

void cl_px4_mr::CbPx4ClientBehaviorBase::setTimeout ( std::chrono::milliseconds timeout )

inline

Definition at line 83 of file cb_px4_client_behavior_base.hpp.

83{ timeout_ = timeout; }

cl_px4_mr::CbPx4ClientBehaviorBase::timeout_

std::optional< std::chrono::milliseconds > timeout_

Definition cb_px4_client_behavior_base.hpp:138

References timeout_.

◆ update()

void cl_px4_mr::CbPx4ClientBehaviorBase::update ( )

inlineoverridevirtual

Implements smacc2::ISmaccUpdatable.

Reimplemented in cl_px4_mr::CbSpiralPattern, and cl_px4_mr::CbYawRotate.

Definition at line 85 of file cb_px4_client_behavior_base.hpp.

  {
    if (!timeout_ || completed_)
    {
      return;
    }
 
    auto now = std::chrono::steady_clock::now();
    if (!watchdogStart_)
    {
      watchdogStart_ = now;
      return;
    }
 
    if (now - *watchdogStart_ > *timeout_)
    {
      RCLCPP_ERROR(
        getLogger(), "[%s] Timed out after %ld ms without completing - posting failure",
        getName().c_str(), static_cast<long>(timeout_->count()));
      this->postPx4Failure();
    }
  }