#include <cb_sine_altitude_cruise.hpp>

Inheritance diagram for cl_px4_mr::CbSineAltitudeCruise:

Collaboration diagram for cl_px4_mr::CbSineAltitudeCruise:

Public Member Functions
	CbSineAltitudeCruise (float groundSpeed=2.0f, float amplitude=1.5f, float wavelength=20.0f, float heading=std::numeric_limits< float >::quiet_NaN())

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)

bool	hasTimeout () const

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	groundSpeed_

float	amplitude_

float	wavelength_

float	heading_

float	startX_ = 0.0f

float	startY_ = 0.0f

float	baseZ_ = 0.0f

float	arcLength_ = 0.0f

float	lastCmdX_ = 0.0f

float	lastCmdY_ = 0.0f

std::atomic< bool >	active_ {false}

std::chrono::steady_clock::time_point	lastUpdateTime_

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 37 of file cb_sine_altitude_cruise.hpp.

Constructor & Destructor Documentation

◆ CbSineAltitudeCruise()

cl_px4_mr::CbSineAltitudeCruise::CbSineAltitudeCruise	(	float	groundSpeed = 2.0f,
		float	amplitude = 1.5f,
		float	wavelength = 20.0f,
		float	heading = std::numeric_limits<float>::quiet_NaN() )

Definition at line 25 of file cb_sine_altitude_cruise.cpp.

: groundSpeed_(groundSpeed),
  amplitude_(amplitude),
  wavelength_(std::max(wavelength, 0.1f)),
  heading_(heading)
{
}

Member Function Documentation

◆ onEntry()

void cl_px4_mr::CbSineAltitudeCruise::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 34 of file cb_sine_altitude_cruise.cpp.

{
  if (localPosition_ == nullptr || !localPosition_->isValid())
  {
    RCLCPP_ERROR(
      getLogger(), "CbSineAltitudeCruise: no valid local position at entry - posting failure");
    this->postPx4Failure();
    return;
  }
 
  startX_ = localPosition_->getX();
  startY_ = localPosition_->getY();
  baseZ_ = localPosition_->getZ();
 
  if (std::isnan(heading_))
  {
    heading_ = localPosition_->getHeading();
  }
  heading_ = wrapPi(heading_);
 
  // Peak vertical speed of the commanded path; PX4 defaults limit climb/descent
  // to ~2-3 m/s and the flown sine flattens beyond that.
  float peakVerticalSpeed =
    amplitude_ * 2.0f * static_cast<float>(M_PI) * groundSpeed_ / wavelength_;
  if (peakVerticalSpeed > 2.0f)
  {
    RCLCPP_WARN(
      getLogger(),
      "CbSineAltitudeCruise: commanded peak vertical speed %.2f m/s exceeds typical PX4 limits - "
      "the flown path will flatten",
      peakVerticalSpeed);
  }
 
  arcLength_ = 0.0f;
  lastCmdX_ = startX_;
  lastCmdY_ = startY_;
  lastUpdateTime_ = std::chrono::steady_clock::now();
 
  RCLCPP_INFO(
    getLogger(),
    "CbSineAltitudeCruise: cruising heading=%.2f rad v=%.2f m/s A=%.2f m lambda=%.2f m "
    "(continuous - exits only on state change)",
    heading_, groundSpeed_, amplitude_, wavelength_);
 
  trajectorySetpoint_->setPositionNED(startX_, startY_, baseZ_, heading_);
  active_ = true;
}

References active_, amplitude_, arcLength_, baseZ_, cl_px4_mr::CpVehicleLocalPosition::getHeading(), smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CpVehicleLocalPosition::getX(), cl_px4_mr::CpVehicleLocalPosition::getY(), cl_px4_mr::CpVehicleLocalPosition::getZ(), groundSpeed_, heading_, cl_px4_mr::CpVehicleLocalPosition::isValid(), lastCmdX_, lastCmdY_, lastUpdateTime_, cl_px4_mr::CbPx4ClientBehaviorBase::localPosition_, cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Failure(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), startX_, startY_, cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_, wavelength_, and cl_px4_mr::wrapPi().

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◆ onExit()

void cl_px4_mr::CbSineAltitudeCruise::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 82 of file cb_sine_altitude_cruise.cpp.

{
  if (active_.exchange(false))
  {
    // Settle at the entry altitude at the last commanded ground position; the
    // offboard keep-alive republishes this until the next state commands otherwise.
    trajectorySetpoint_->setPositionNED(lastCmdX_, lastCmdY_, baseZ_, heading_);
    RCLCPP_INFO(
      getLogger(), "CbSineAltitudeCruise: exiting - settling at base altitude (NED z=%.2f)",
      baseZ_);
  }
}

References active_, baseZ_, smacc2::ISmaccClientBehavior::getLogger(), heading_, lastCmdX_, lastCmdY_, cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), and cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_.

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◆ update()

void cl_px4_mr::CbSineAltitudeCruise::update ( )

overridevirtual

Reimplemented from cl_px4_mr::CbPx4ClientBehaviorBase.

Definition at line 95 of file cb_sine_altitude_cruise.cpp.

{
  CbPx4ClientBehaviorBase::update();
 
  if (!active_)
  {
    return;
  }
 
  auto now = std::chrono::steady_clock::now();
  double dt = std::chrono::duration<double>(now - lastUpdateTime_).count();
  lastUpdateTime_ = now;
 
  arcLength_ += groundSpeed_ * static_cast<float>(dt);
 
  float x = startX_ + arcLength_ * std::cos(heading_);
  float y = startY_ + arcLength_ * std::sin(heading_);
  float phase = 2.0f * static_cast<float>(M_PI) * arcLength_ / wavelength_;
  float z = baseZ_ - amplitude_ * std::sin(phase);  // NED: up is negative
 
  lastCmdX_ = x;
  lastCmdY_ = y;
  trajectorySetpoint_->setPositionNED(x, y, z, heading_);
}

References active_, amplitude_, arcLength_, baseZ_, groundSpeed_, heading_, lastCmdX_, lastCmdY_, lastUpdateTime_, cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), startX_, startY_, cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_, cl_px4_mr::CbPx4ClientBehaviorBase::update(), and wavelength_.

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Member Data Documentation

◆ active_

std::atomic<bool> cl_px4_mr::CbSineAltitudeCruise::active_ {false}

private

Definition at line 60 of file cb_sine_altitude_cruise.hpp.

60{false};

Referenced by onEntry(), onExit(), and update().

◆ amplitude_

float cl_px4_mr::CbSineAltitudeCruise::amplitude_

private

Definition at line 50 of file cb_sine_altitude_cruise.hpp.

Referenced by onEntry(), and update().

◆ arcLength_

float cl_px4_mr::CbSineAltitudeCruise::arcLength_ = 0.0f

private

Definition at line 57 of file cb_sine_altitude_cruise.hpp.

Referenced by onEntry(), and update().

◆ baseZ_

float cl_px4_mr::CbSineAltitudeCruise::baseZ_ = 0.0f

private

Definition at line 56 of file cb_sine_altitude_cruise.hpp.

Referenced by onEntry(), onExit(), and update().

◆ groundSpeed_

float cl_px4_mr::CbSineAltitudeCruise::groundSpeed_

private

Definition at line 49 of file cb_sine_altitude_cruise.hpp.

Referenced by onEntry(), and update().

◆ heading_

float cl_px4_mr::CbSineAltitudeCruise::heading_

private

Definition at line 52 of file cb_sine_altitude_cruise.hpp.

Referenced by onEntry(), onExit(), and update().

◆ lastCmdX_

float cl_px4_mr::CbSineAltitudeCruise::lastCmdX_ = 0.0f

private

Definition at line 58 of file cb_sine_altitude_cruise.hpp.

Referenced by onEntry(), onExit(), and update().

◆ lastCmdY_

float cl_px4_mr::CbSineAltitudeCruise::lastCmdY_ = 0.0f

private

Definition at line 59 of file cb_sine_altitude_cruise.hpp.

Referenced by onEntry(), onExit(), and update().

◆ lastUpdateTime_

std::chrono::steady_clock::time_point cl_px4_mr::CbSineAltitudeCruise::lastUpdateTime_

private

Definition at line 61 of file cb_sine_altitude_cruise.hpp.

Referenced by onEntry(), and update().

◆ startX_

float cl_px4_mr::CbSineAltitudeCruise::startX_ = 0.0f

private

Definition at line 54 of file cb_sine_altitude_cruise.hpp.

Referenced by onEntry(), and update().

◆ startY_

float cl_px4_mr::CbSineAltitudeCruise::startY_ = 0.0f

private

Definition at line 55 of file cb_sine_altitude_cruise.hpp.

Referenced by onEntry(), and update().

◆ wavelength_

float cl_px4_mr::CbSineAltitudeCruise::wavelength_

private

Definition at line 51 of file cb_sine_altitude_cruise.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_sine_altitude_cruise.hpp
smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_sine_altitude_cruise.cpp

Public Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbSineAltitudeCruise()

Member Function Documentation

◆ onEntry()

◆ onExit()

◆ update()

Member Data Documentation

◆ active_

◆ amplitude_

◆ arcLength_

◆ baseZ_

◆ groundSpeed_

◆ heading_

◆ lastCmdX_

◆ lastCmdY_

◆ lastUpdateTime_

◆ startX_

◆ startY_

◆ wavelength_