#include <cb_spiral_up.hpp>

Inheritance diagram for cl_px4_mr::CbSpiralUp:

Collaboration diagram for cl_px4_mr::CbSpiralUp:

Public Member Functions
	CbSpiralUp (SpiralUpParams params={})

void	onEntry () override

void	onExit () override

void	update () override

const SpiralUpParams &	params () const

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 Member Functions
void	command ()

Private Attributes
SpiralUpParams	params_

float	startAltitude_ = 0.0f

float	startAngle_ = 0.0f

float	currentAngle_ = 0.0f

int	lastReportedOrbit_ = -1

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 48 of file cb_spiral_up.hpp.

Constructor & Destructor Documentation

◆ CbSpiralUp()

cl_px4_mr::CbSpiralUp::CbSpiralUp ( SpiralUpParams params = {} )

explicit

Definition at line 22 of file cb_spiral_up.cpp.

22: params_(params) {}

cl_px4_mr::CbSpiralUp::params

const SpiralUpParams & params() const

Definition cb_spiral_up.hpp:57

cl_px4_mr::CbSpiralUp::params_

SpiralUpParams params_

Definition cb_spiral_up.hpp:62

Member Function Documentation

◆ command()

void cl_px4_mr::CbSpiralUp::command ( )

private

Definition at line 47 of file cb_spiral_up.cpp.

{
  const float turned = currentAngle_ - startAngle_;
  const float orbits = std::fabs(turned) / (2.0f * static_cast<float>(M_PI));
  const float climb = std::min(orbits * params_.climbPerOrbitM, params_.climbTotalM);
  const float x = params_.centerX + params_.radiusM * std::cos(currentAngle_);
  const float y = params_.centerY + params_.radiusM * std::sin(currentAngle_);
  const float z = -(startAltitude_ + climb);                   // NED: up is negative
  const float yaw = currentAngle_ + static_cast<float>(M_PI);  // nose toward the axis
  trajectorySetpoint_->setPositionNED(x, y, z, yaw);
 
  const int orbit = static_cast<int>(orbits);
  if (orbit != lastReportedOrbit_)
  {
    lastReportedOrbit_ = orbit;
    RCLCPP_INFO(
      getLogger(), "CbSpiralUp: orbit %d, commanding %.1f m up", orbit,
      static_cast<double>(startAltitude_ + climb));
  }
}

References cl_px4_mr::SpiralUpParams::centerX, cl_px4_mr::SpiralUpParams::centerY, cl_px4_mr::SpiralUpParams::climbPerOrbitM, cl_px4_mr::SpiralUpParams::climbTotalM, currentAngle_, smacc2::ISmaccClientBehavior::getLogger(), lastReportedOrbit_, params_, cl_px4_mr::SpiralUpParams::radiusM, cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), startAltitude_, startAngle_, and cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_.

Referenced by onEntry(), and update().

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◆ onEntry()

void cl_px4_mr::CbSpiralUp::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 24 of file cb_spiral_up.cpp.

{
  const float dx = localPosition_->getX() - params_.centerX;
  const float dy = localPosition_->getY() - params_.centerY;
  startAngle_ = std::atan2(dy, dx);
  currentAngle_ = startAngle_;
  startAltitude_ =
    std::isfinite(params_.startAltitudeM) ? params_.startAltitudeM : -localPosition_->getZ();
  lastReportedOrbit_ = -1;
  lastUpdateTime_ = std::chrono::steady_clock::now();
 
  RCLCPP_INFO(
    getLogger(),
    "CbSpiralUp: helix about NED (%.1f, %.1f), radius %.1f m, from %.1f m up %.1f m at %.1f m per "
    "orbit (%.1f orbits), %.2f rad/s",
    static_cast<double>(params_.centerX), static_cast<double>(params_.centerY),
    static_cast<double>(params_.radiusM), static_cast<double>(startAltitude_),
    static_cast<double>(params_.climbTotalM), static_cast<double>(params_.climbPerOrbitM),
    static_cast<double>(params_.climbTotalM / params_.climbPerOrbitM),
    static_cast<double>(params_.angularVelocityRadS));
  command();
}

References cl_px4_mr::SpiralUpParams::angularVelocityRadS, cl_px4_mr::SpiralUpParams::centerX, cl_px4_mr::SpiralUpParams::centerY, cl_px4_mr::SpiralUpParams::climbPerOrbitM, cl_px4_mr::SpiralUpParams::climbTotalM, command(), currentAngle_, smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CpVehicleLocalPosition::getX(), cl_px4_mr::CpVehicleLocalPosition::getY(), cl_px4_mr::CpVehicleLocalPosition::getZ(), lastReportedOrbit_, lastUpdateTime_, cl_px4_mr::CbPx4ClientBehaviorBase::localPosition_, params_, cl_px4_mr::SpiralUpParams::radiusM, startAltitude_, cl_px4_mr::SpiralUpParams::startAltitudeM, and startAngle_.

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◆ onExit()

void cl_px4_mr::CbSpiralUp::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 54 of file cb_spiral_up.hpp.

54{}

◆ params()

const SpiralUpParams & cl_px4_mr::CbSpiralUp::params ( ) const

inline

Definition at line 57 of file cb_spiral_up.hpp.

57{ return params_; }

References params_.

◆ update()

void cl_px4_mr::CbSpiralUp::update ( )

overridevirtual

Reimplemented from cl_px4_mr::CbPx4ClientBehaviorBase.

Definition at line 68 of file cb_spiral_up.cpp.

{
  CbPx4ClientBehaviorBase::update();
 
  const auto now = std::chrono::steady_clock::now();
  const double dt = std::chrono::duration<double>(now - lastUpdateTime_).count();
  lastUpdateTime_ = now;
  currentAngle_ += params_.angularVelocityRadS * static_cast<float>(dt);
  command();
 
  const float turned = std::fabs(currentAngle_ - startAngle_);
  const float needed =
    params_.climbTotalM / params_.climbPerOrbitM * 2.0f * static_cast<float>(M_PI);
  if (turned >= needed)
  {
    RCLCPP_INFO(
      getLogger(), "CbSpiralUp: %.1f m gained over %.1f orbits - posting success",
      static_cast<double>(params_.climbTotalM), static_cast<double>(turned / (2.0f * M_PI)));
    this->postPx4Success();
  }
}

References cl_px4_mr::SpiralUpParams::angularVelocityRadS, cl_px4_mr::SpiralUpParams::climbPerOrbitM, cl_px4_mr::SpiralUpParams::climbTotalM, command(), currentAngle_, smacc2::ISmaccClientBehavior::getLogger(), lastUpdateTime_, params_, cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Success(), startAngle_, and cl_px4_mr::CbPx4ClientBehaviorBase::update().

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Member Data Documentation

◆ currentAngle_

float cl_px4_mr::CbSpiralUp::currentAngle_ = 0.0f

private

Definition at line 65 of file cb_spiral_up.hpp.

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

◆ lastReportedOrbit_

int cl_px4_mr::CbSpiralUp::lastReportedOrbit_ = -1

private

Definition at line 66 of file cb_spiral_up.hpp.

Referenced by command(), and onEntry().

◆ lastUpdateTime_

std::chrono::steady_clock::time_point cl_px4_mr::CbSpiralUp::lastUpdateTime_

private

Definition at line 67 of file cb_spiral_up.hpp.

Referenced by onEntry(), and update().

◆ params_

SpiralUpParams cl_px4_mr::CbSpiralUp::params_

private

Definition at line 62 of file cb_spiral_up.hpp.

Referenced by command(), onEntry(), params(), and update().

◆ startAltitude_

float cl_px4_mr::CbSpiralUp::startAltitude_ = 0.0f

private

Definition at line 63 of file cb_spiral_up.hpp.

Referenced by command(), and onEntry().

◆ startAngle_

float cl_px4_mr::CbSpiralUp::startAngle_ = 0.0f

private

Definition at line 64 of file cb_spiral_up.hpp.

Referenced by command(), 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_spiral_up.hpp
smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_spiral_up.cpp

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CbSpiralUp()

Member Function Documentation

◆ command()

◆ onEntry()

◆ onExit()

◆ params()

◆ update()

Member Data Documentation

◆ currentAngle_

◆ lastReportedOrbit_

◆ lastUpdateTime_

◆ params_

◆ startAltitude_

◆ startAngle_