#include <cb_wait_for_heading_stable.hpp>

Inheritance diagram for cl_px4_mr::CbWaitForHeadingStable:

Collaboration diagram for cl_px4_mr::CbWaitForHeadingStable:

Public Member Functions
	CbWaitForHeadingStable (HeadingStableParams params={})

void	onEntry () 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)

bool	hasTimeout () const

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 Attributes
HeadingStableParams	params_

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 47 of file cb_wait_for_heading_stable.hpp.

Constructor & Destructor Documentation

◆ CbWaitForHeadingStable()

cl_px4_mr::CbWaitForHeadingStable::CbWaitForHeadingStable ( HeadingStableParams params = {} )

explicit

Definition at line 35 of file cb_wait_for_heading_stable.cpp.

35: params_(params) {}

cl_px4_mr::CbWaitForHeadingStable::params_

HeadingStableParams params_

Definition cb_wait_for_heading_stable.hpp:56

Member Function Documentation

◆ onEntry()

void cl_px4_mr::CbWaitForHeadingStable::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 37 of file cb_wait_for_heading_stable.cpp.

{
  if (localPosition_ == nullptr)
  {
    RCLCPP_ERROR(getLogger(), "CbWaitForHeadingStable: no CpVehicleLocalPosition");
    this->postPx4Failure();
    return;
  }
  const bool checkExpected = std::isfinite(params_.expectedHeadingRad);
  RCLCPP_INFO(
    getLogger(),
    "CbWaitForHeadingStable: waiting for the heading to hold within %.2f deg/s over %.0f s%s "
    "(timeout %.0f s)",
    params_.maxDriftRadS * 180.0 / M_PI, params_.windowS,
    checkExpected ? " and match the parked heading" : "", params_.timeoutS);
 
  using clock = std::chrono::steady_clock;
  const auto start = clock::now();
  std::deque<std::pair<double, float>> samples;  // (t since start, heading)
  rclcpp::Rate rate(10.0);
  double lastReport = -10.0;
 
  while (!this->isShutdownRequested())
  {
    const double t = std::chrono::duration<double>(clock::now() - start).count();
    if (localPosition_->isValid())
    {
      samples.emplace_back(t, localPosition_->getHeading());
    }
    while (!samples.empty() && t - samples.front().first > params_.windowS)
    {
      samples.pop_front();
    }
 
    bool windowFull =
      !samples.empty() && samples.back().first - samples.front().first >= 0.9 * params_.windowS;
    float drift = 0.0f, offset = 0.0f;
    bool stable = false, aligned = true;
    if (windowFull)
    {
      // unwrap over the window: max excursion from the first sample
      float lo = 0.0f, hi = 0.0f;
      for (const auto & s : samples)
      {
        const float d = wrapPi(s.second - samples.front().second);
        lo = std::min(lo, d);
        hi = std::max(hi, d);
      }
      drift = hi - lo;
      stable = drift <= static_cast<float>(params_.maxDriftRadS * params_.windowS);
      if (checkExpected)
      {
        offset = wrapPi(samples.back().second - params_.expectedHeadingRad);
        aligned = std::fabs(offset) <= params_.headingTolRad;
      }
    }
 
    if (windowFull && stable && aligned)
    {
      RCLCPP_INFO(
        getLogger(),
        "CbWaitForHeadingStable: heading %.1f deg stable (%.2f deg over %.0f s%s) - posting "
        "success",
        samples.back().second * 180.0 / M_PI, drift * 180.0 / M_PI, params_.windowS,
        checkExpected ? (", offset " + std::to_string(offset * 180.0 / M_PI) + " deg").c_str()
                      : "");
      this->postPx4Success();
      return;
    }
 
    if (t - lastReport >= 2.0)
    {
      lastReport = t;
      if (!windowFull)
      {
        RCLCPP_INFO(
          getLogger(), "CbWaitForHeadingStable: collecting (%zu samples, position valid=%d)",
          samples.size(), static_cast<int>(localPosition_->isValid()));
      }
      else
      {
        RCLCPP_WARN(
          getLogger(),
          "CbWaitForHeadingStable: heading %.1f deg NOT ready: drift %.2f deg/s%s - the EKF "
          "yaw is not trustworthy for takeoff",
          samples.back().second * 180.0 / M_PI, drift / params_.windowS * 180.0 / M_PI,
          checkExpected
            ? (", offset from parked heading " + std::to_string(offset * 180.0 / M_PI) + " deg")
                .c_str()
            : "");
      }
    }
 
    if (t > params_.timeoutS)
    {
      RCLCPP_ERROR(
        getLogger(),
        "CbWaitForHeadingStable: timeout (%.0f s): heading %.1f deg, drift %.2f deg/s. "
        "Refusing to arm; restart the estimator / SITL",
        params_.timeoutS, samples.empty() ? 0.0 : samples.back().second * 180.0 / M_PI,
        drift / params_.windowS * 180.0 / M_PI);
      this->postPx4Failure();
      return;
    }
    rate.sleep();
  }
  RCLCPP_WARN(getLogger(), "CbWaitForHeadingStable: shutdown requested");
  this->postPx4Failure();
}

References cl_px4_mr::HeadingStableParams::expectedHeadingRad, cl_px4_mr::CpVehicleLocalPosition::getHeading(), smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::HeadingStableParams::headingTolRad, smacc2::SmaccAsyncClientBehavior::isShutdownRequested(), cl_px4_mr::CpVehicleLocalPosition::isValid(), cl_px4_mr::CbPx4ClientBehaviorBase::localPosition_, cl_px4_mr::HeadingStableParams::maxDriftRadS, params_, cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Failure(), cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Success(), cl_px4_mr::HeadingStableParams::timeoutS, cl_px4_mr::HeadingStableParams::windowS, and cl_px4_mr::wrapPi().

Here is the call graph for this function:

◆ onExit()

void cl_px4_mr::CbWaitForHeadingStable::onExit ( )

inlineoverridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 53 of file cb_wait_for_heading_stable.hpp.

53{}

Member Data Documentation

◆ params_

HeadingStableParams cl_px4_mr::CbWaitForHeadingStable::params_

private

Definition at line 56 of file cb_wait_for_heading_stable.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_wait_for_heading_stable.hpp
smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_wait_for_heading_stable.cpp

Public Member Functions

Private Attributes

Additional Inherited Members