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	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	targetAltitude_

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 30 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.

{
  // 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 cl_px4_mr::CpOffboardKeepAlive::enable(), cl_px4_mr::CpVehicleLocalPosition::getHeading(), smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CpVehicleLocalPosition::getX(), cl_px4_mr::CpVehicleLocalPosition::getY(), cl_px4_mr::CbPx4ClientBehaviorBase::goalChecker_, cl_px4_mr::CpTrajectorySetpoint::hold(), cl_px4_mr::CbPx4ClientBehaviorBase::localPosition_, cl_px4_mr::CbPx4ClientBehaviorBase::offboardKeepAlive_, cl_px4_mr::CpGoalChecker::setGoal(), cl_px4_mr::CpVehicleCommand::setOffboardMode(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), targetAltitude_, cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_, and cl_px4_mr::CbPx4ClientBehaviorBase::vehicleCommand_.

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onExit()

void cl_px4_mr::CbTakeOff::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 63 of file cb_takeoff.cpp.

{}

onGoalReachedCallback()

void cl_px4_mr::CbTakeOff::onGoalReachedCallback ( )

private

Definition at line 65 of file cb_takeoff.cpp.

{
  RCLCPP_INFO(getLogger(), "CbTakeOff: target altitude reached - posting success");
  this->postPx4Success();
}

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

Referenced by wireCompletionSignals().

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wireCompletionSignals()

void cl_px4_mr::CbTakeOff::wireCompletionSignals ( )

overridevirtual

Reimplemented from cl_px4_mr::CbPx4ClientBehaviorBase.

Definition at line 71 of file cb_takeoff.cpp.

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

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Member Data Documentation

targetAltitude_

float cl_px4_mr::CbTakeOff::targetAltitude_

private

Definition at line 43 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