cl_px4_mr::CbTakeOff Class Reference

#include <cb_takeoff.hpp>

Inheritance diagram for cl_px4_mr::CbTakeOff:

Collaboration diagram for cl_px4_mr::CbTakeOff:

Public Member Functions
	CbTakeOff (float targetAltitude=5.0f)
void	onEntry () override
void	onExit () 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)

Private Member Functions
void	onGoalReachedCallback ()

Private Attributes
float	targetAltitude_
CpVehicleCommand *	vehicleCommand_ = nullptr
CpOffboardKeepAlive *	offboardKeepAlive_ = nullptr
CpTrajectorySetpoint *	trajectorySetpoint_ = nullptr
CpGoalChecker *	goalChecker_ = nullptr
CpVehicleLocalPosition *	localPosition_ = nullptr

Additional Inherited Members
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

Detailed Description

Definition at line 28 of file cb_takeoff.hpp.

Constructor & Destructor Documentation

CbTakeOff()

cl_px4_mr::CbTakeOff::CbTakeOff ( float targetAltitude = 5.0f )

explicit

Definition at line 28 of file cb_takeoff.cpp.

: targetAltitude_(targetAltitude) {}

Member Function Documentation

onEntry()

void cl_px4_mr::CbTakeOff::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 30 of file cb_takeoff.cpp.

{
  this->requiresComponent(vehicleCommand_);
  this->requiresComponent(offboardKeepAlive_);
  this->requiresComponent(trajectorySetpoint_);
  this->requiresComponent(goalChecker_);
  this->requiresComponent(localPosition_);
 
  this->getStateMachine()->createSignalConnection(
    goalChecker_->onGoalReached_, &CbTakeOff::onGoalReachedCallback, this);
 
  // 1. Enable offboard keepalive heartbeat
  offboardKeepAlive_->enable();
 
  // 2. Hold current position to begin streaming setpoints
  trajectorySetpoint_->hold();
 
  // 3. Wait for PX4 to see the setpoint stream (needs >2Hz for 1 second)
  RCLCPP_INFO(getLogger(), "CbTakeOff: streaming setpoints before offboard switch...");
  std::this_thread::sleep_for(std::chrono::seconds(2));
 
  // 4. Switch to offboard mode
  RCLCPP_INFO(getLogger(), "CbTakeOff: switching to offboard mode");
  vehicleCommand_->setOffboardMode();
 
  // 5. Small delay for mode switch to take effect
  std::this_thread::sleep_for(std::chrono::milliseconds(500));
 
  // 6. Command target altitude (NED: up is negative Z)
  float currentX = localPosition_->getX();
  float currentY = localPosition_->getY();
  float targetZ = -targetAltitude_;
  float currentHeading = localPosition_->getHeading();
 
  RCLCPP_INFO(
    getLogger(), "CbTakeOff: commanding altitude %.2f m (NED z=%.2f)", targetAltitude_, targetZ);
  trajectorySetpoint_->setPositionNED(currentX, currentY, targetZ, currentHeading);
 
  // 7. Set goal checker for target altitude
  goalChecker_->setGoal(currentX, currentY, targetZ, 0.5f, 0.3f);
}

References smacc2::ISmaccStateMachine::createSignalConnection(), cl_px4_mr::CpOffboardKeepAlive::enable(), cl_px4_mr::CpVehicleLocalPosition::getHeading(), smacc2::ISmaccClientBehavior::getLogger(), smacc2::ISmaccClientBehavior::getStateMachine(), cl_px4_mr::CpVehicleLocalPosition::getX(), cl_px4_mr::CpVehicleLocalPosition::getY(), goalChecker_, cl_px4_mr::CpTrajectorySetpoint::hold(), localPosition_, offboardKeepAlive_, cl_px4_mr::CpGoalChecker::onGoalReached_, onGoalReachedCallback(), smacc2::ISmaccClientBehavior::requiresComponent(), cl_px4_mr::CpGoalChecker::setGoal(), cl_px4_mr::CpVehicleCommand::setOffboardMode(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), targetAltitude_, trajectorySetpoint_, and vehicleCommand_.

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onExit()

void cl_px4_mr::CbTakeOff::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 72 of file cb_takeoff.cpp.

{}

onGoalReachedCallback()

void cl_px4_mr::CbTakeOff::onGoalReachedCallback ( )

private

Definition at line 74 of file cb_takeoff.cpp.

{
  RCLCPP_INFO(getLogger(), "CbTakeOff: target altitude reached - posting success");
  this->postSuccessEvent();
}

References smacc2::ISmaccClientBehavior::getLogger(), and smacc2::SmaccAsyncClientBehavior::postSuccessEvent().

Referenced by onEntry().

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Member Data Documentation

goalChecker_

CpGoalChecker* cl_px4_mr::CbTakeOff::goalChecker_ = nullptr

private

Definition at line 43 of file cb_takeoff.hpp.

Referenced by onEntry().

localPosition_

CpVehicleLocalPosition* cl_px4_mr::CbTakeOff::localPosition_ = nullptr

private

Definition at line 44 of file cb_takeoff.hpp.

Referenced by onEntry().

offboardKeepAlive_

CpOffboardKeepAlive* cl_px4_mr::CbTakeOff::offboardKeepAlive_ = nullptr

private

Definition at line 41 of file cb_takeoff.hpp.

Referenced by onEntry().

targetAltitude_

float cl_px4_mr::CbTakeOff::targetAltitude_

private

Definition at line 39 of file cb_takeoff.hpp.

Referenced by onEntry().

trajectorySetpoint_

CpTrajectorySetpoint* cl_px4_mr::CbTakeOff::trajectorySetpoint_ = nullptr

private

Definition at line 42 of file cb_takeoff.hpp.

Referenced by onEntry().

vehicleCommand_

CpVehicleCommand* cl_px4_mr::CbTakeOff::vehicleCommand_ = nullptr

private

Definition at line 40 of file cb_takeoff.hpp.

Referenced by onEntry().

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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_takeoff.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_takeoff.cpp