cl_px4_mr::CbYawScan Class Reference

#include <cb_yaw_scan.hpp>

Inheritance diagram for cl_px4_mr::CbYawScan:

Collaboration diagram for cl_px4_mr::CbYawScan:

Public Member Functions
	CbYawScan (float amplitude=0.6f, float period=6.0f, float baseHeading=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	amplitude_
float	period_
float	baseHeading_
float	holdX_ = 0.0f
float	holdY_ = 0.0f
float	holdZ_ = 0.0f
float	elapsed_ = 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 36 of file cb_yaw_scan.hpp.

Constructor & Destructor Documentation

CbYawScan()

cl_px4_mr::CbYawScan::CbYawScan	(	float	amplitude = 0.6f,
		float	period = 6.0f,
		float	baseHeading = std::numeric_limits<float>::quiet_NaN() )

Definition at line 25 of file cb_yaw_scan.cpp.

: amplitude_(amplitude), period_(std::max(period, 0.1f)), baseHeading_(baseHeading)
{
}

Member Function Documentation

onEntry()

void cl_px4_mr::CbYawScan::onEntry ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 30 of file cb_yaw_scan.cpp.

{
  if (localPosition_ == nullptr || !localPosition_->isValid())
  {
    RCLCPP_ERROR(getLogger(), "CbYawScan: no valid local position at entry - posting failure");
    this->postPx4Failure();
    return;
  }
 
  holdX_ = localPosition_->getX();
  holdY_ = localPosition_->getY();
  holdZ_ = localPosition_->getZ();
 
  if (std::isnan(baseHeading_))
  {
    baseHeading_ = localPosition_->getHeading();
  }
  baseHeading_ = wrapPi(baseHeading_);
 
  // Peak yaw rate of the commanded sweep; PX4's autonomous yaw rate limit is
  // ~0.8 rad/s by default and the flown sweep clips beyond it.
  float peakYawRate = amplitude_ * 2.0f * static_cast<float>(M_PI) / period_;
  if (peakYawRate > 0.8f)
  {
    RCLCPP_WARN(
      getLogger(),
      "CbYawScan: commanded peak yaw rate %.2f rad/s exceeds typical PX4 limits - the flown "
      "sweep will clip",
      peakYawRate);
  }
 
  elapsed_ = 0.0f;
  lastUpdateTime_ = std::chrono::steady_clock::now();
 
  RCLCPP_INFO(
    getLogger(),
    "CbYawScan: scanning around heading=%.2f rad A=%.2f rad T=%.2f s "
    "(continuous - exits only on state change)",
    baseHeading_, amplitude_, period_);
 
  trajectorySetpoint_->setPositionNED(holdX_, holdY_, holdZ_, baseHeading_);
  active_ = true;
}

References active_, amplitude_, baseHeading_, elapsed_, cl_px4_mr::CpVehicleLocalPosition::getHeading(), smacc2::ISmaccClientBehavior::getLogger(), cl_px4_mr::CpVehicleLocalPosition::getX(), cl_px4_mr::CpVehicleLocalPosition::getY(), cl_px4_mr::CpVehicleLocalPosition::getZ(), holdX_, holdY_, holdZ_, cl_px4_mr::CpVehicleLocalPosition::isValid(), lastUpdateTime_, cl_px4_mr::CbPx4ClientBehaviorBase::localPosition_, period_, cl_px4_mr::CbPx4ClientBehaviorBase::postPx4Failure(), cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_, and cl_px4_mr::wrapPi().

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onExit()

void cl_px4_mr::CbYawScan::onExit ( )

overridevirtual

Reimplemented from smacc2::ISmaccClientBehavior.

Definition at line 74 of file cb_yaw_scan.cpp.

{
  if (active_.exchange(false))
  {
    // Restore the base heading; the offboard keep-alive republishes this until
    // the next state commands otherwise.
    trajectorySetpoint_->setPositionNED(holdX_, holdY_, holdZ_, baseHeading_);
    RCLCPP_INFO(getLogger(), "CbYawScan: exiting - restoring base heading %.2f rad", baseHeading_);
  }
}

References active_, baseHeading_, smacc2::ISmaccClientBehavior::getLogger(), holdX_, holdY_, holdZ_, cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), and cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_.

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update()

void cl_px4_mr::CbYawScan::update ( )

overridevirtual

Reimplemented from cl_px4_mr::CbPx4ClientBehaviorBase.

Definition at line 85 of file cb_yaw_scan.cpp.

{
  CbPx4ClientBehaviorBase::update();
 
  if (!active_)
  {
    return;
  }
 
  auto now = std::chrono::steady_clock::now();
  double dt = std::chrono::duration<double>(now - lastUpdateTime_).count();
  lastUpdateTime_ = now;
 
  elapsed_ += static_cast<float>(dt);
 
  float phase = 2.0f * static_cast<float>(M_PI) * elapsed_ / period_;
  float yaw = wrapPi(baseHeading_ + amplitude_ * std::sin(phase));
 
  trajectorySetpoint_->setPositionNED(holdX_, holdY_, holdZ_, yaw);
}

References active_, amplitude_, baseHeading_, elapsed_, holdX_, holdY_, holdZ_, lastUpdateTime_, period_, cl_px4_mr::CpTrajectorySetpoint::setPositionNED(), cl_px4_mr::CbPx4ClientBehaviorBase::trajectorySetpoint_, cl_px4_mr::CbPx4ClientBehaviorBase::update(), and cl_px4_mr::wrapPi().

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Member Data Documentation

active_

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

private

Definition at line 56 of file cb_yaw_scan.hpp.

{false};

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

amplitude_

float cl_px4_mr::CbYawScan::amplitude_

private

Definition at line 48 of file cb_yaw_scan.hpp.

Referenced by onEntry(), and update().

baseHeading_

float cl_px4_mr::CbYawScan::baseHeading_

private

Definition at line 50 of file cb_yaw_scan.hpp.

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

elapsed_

float cl_px4_mr::CbYawScan::elapsed_ = 0.0f

private

Definition at line 55 of file cb_yaw_scan.hpp.

Referenced by onEntry(), and update().

holdX_

float cl_px4_mr::CbYawScan::holdX_ = 0.0f

private

Definition at line 52 of file cb_yaw_scan.hpp.

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

holdY_

float cl_px4_mr::CbYawScan::holdY_ = 0.0f

private

Definition at line 53 of file cb_yaw_scan.hpp.

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

holdZ_

float cl_px4_mr::CbYawScan::holdZ_ = 0.0f

private

Definition at line 54 of file cb_yaw_scan.hpp.

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

lastUpdateTime_

std::chrono::steady_clock::time_point cl_px4_mr::CbYawScan::lastUpdateTime_

private

Definition at line 57 of file cb_yaw_scan.hpp.

Referenced by onEntry(), and update().

period_

float cl_px4_mr::CbYawScan::period_

private

Definition at line 49 of file cb_yaw_scan.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_yaw_scan.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/client_behaviors/cb_yaw_scan.cpp