#include <cb_return_to_home.hpp>

Inheritance diagram for cl_px4_mr::CbReturnToHome:

Collaboration diagram for cl_px4_mr::CbReturnToHome:

Public Member Functions
	CbReturnToHome (float homeX, float homeY, float homeZ, float homeYaw)

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 ()

Private Attributes
float	homeX_

float	homeY_

float	homeZ_

float	homeYaw_

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 27 of file cb_return_to_home.hpp.

Constructor & Destructor Documentation

◆ CbReturnToHome()

cl_px4_mr::CbReturnToHome::CbReturnToHome	(	float	homeX,
		float	homeY,
		float	homeZ,
		float	homeYaw )

Definition at line 22 of file cb_return_to_home.cpp.

: homeX_(homeX), homeY_(homeY), homeZ_(homeZ), homeYaw_(homeYaw)
{
}

Member Function Documentation

◆ onEntry()

void cl_px4_mr::CbReturnToHome::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 27 of file cb_return_to_home.cpp.

{
  RCLCPP_INFO(
    getLogger(), "CbReturnToHome: returning to home [%.2f, %.2f, %.2f] yaw=%.2f", homeX_, homeY_,
    homeZ_, homeYaw_);
 
  trajectorySetpoint_->setPositionNED(homeX_, homeY_, homeZ_, homeYaw_);
  goalChecker_->setGoal(homeX_, homeY_, homeZ_);
}

References smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CbPx4ClientBehaviorBase::goalChecker_, homeX_, homeY_, homeYaw_, homeZ_, cl_px4_mr::CpGoalChecker::setGoal(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), and cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_.

Here is the call graph for this function:

◆ onExit()

void cl_px4_mr::CbReturnToHome::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 37 of file cb_return_to_home.cpp.

37{ 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_.

Here is the call graph for this function:

◆ onGoalReachedCallback()

void cl_px4_mr::CbReturnToHome::onGoalReachedCallback ( )

private

Definition at line 39 of file cb_return_to_home.cpp.

{
  RCLCPP_INFO(getLogger(), "CbReturnToHome: home position reached - posting success");
  this->postPx4Success();
}

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

Referenced by wireCompletionSignals().

Here is the call graph for this function:

Here is the caller graph for this function:

◆ wireCompletionSignals()

void cl_px4_mr::CbReturnToHome::wireCompletionSignals ( )

overridevirtual

Reimplemented from cl_px4_mr::CbPx4ClientBehaviorBase.

Definition at line 45 of file cb_return_to_home.cpp.

{
  if (goalChecker_ != nullptr)
  {
    this->getStateMachine()->createSignalConnection(
      goalChecker_->onGoalReached_, &CbReturnToHome::onGoalReachedCallback, this);
  }
  else
  {
    RCLCPP_WARN(
      getLogger(), "CbReturnToHome: 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().

Here is the call graph for this function:

Member Data Documentation

◆ homeX_

float cl_px4_mr::CbReturnToHome::homeX_

private

Definition at line 40 of file cb_return_to_home.hpp.

Referenced by onEntry().

◆ homeY_

float cl_px4_mr::CbReturnToHome::homeY_

private

Definition at line 41 of file cb_return_to_home.hpp.

Referenced by onEntry().

◆ homeYaw_

float cl_px4_mr::CbReturnToHome::homeYaw_

private

Definition at line 43 of file cb_return_to_home.hpp.

Referenced by onEntry().

◆ homeZ_

float cl_px4_mr::CbReturnToHome::homeZ_

private

Definition at line 42 of file cb_return_to_home.hpp.

Referenced by onEntry().

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

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbReturnToHome()

Member Function Documentation

◆ onEntry()

◆ onExit()

◆ onGoalReachedCallback()

◆ wireCompletionSignals()

Member Data Documentation

◆ homeX_

◆ homeY_

◆ homeYaw_

◆ homeZ_