#include <cp_kml_mission_loader.hpp>

Inheritance diagram for cl_px4_mr::CpKmlMissionLoader:

Collaboration diagram for cl_px4_mr::CpKmlMissionLoader:

Public Member Functions
	CpKmlMissionLoader ()

virtual	~CpKmlMissionLoader ()

void	onInitialize () override

KmlLoadResult	loadFile (const std::string &absolutePath)

void	setMission (std::vector< GeoPoint > points, const std::string &source)

bool	hasMission () const

std::vector< GeoPoint >	getMission () const

std::string	getSource () const

void	clear ()

Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()

virtual	~ISmaccComponent ()

virtual std::string	getName () const

Static Public Member Functions
static std::vector< GeoPoint >	parseKmlString (const std::string &xml, std::string &error)

Private Attributes
std::mutex	mutex_

std::vector< GeoPoint >	mission_

std::string	source_

Additional Inherited Members
Protected Member Functions inherited from smacc2::ISmaccComponent
template<typename TOrthogonal , typename TClient >
void	onComponentInitialization ()

template<typename EventType >
void	postEvent (const EventType &ev)

template<typename EventType >
void	postEvent ()

template<typename TOrthogonal , typename TSourceObject >
void	onStateOrthogonalAllocation ()

template<typename TComponent >
void	requiresComponent (TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

template<typename TComponent >
void	requiresComponent (std::string name, TComponent *&requiredComponentStorage, ComponentRequirement requirementType=ComponentRequirement::SOFT)

template<typename TClient >
void	requiresClient (TClient *&requiredClientStorage)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingComponent (TArgs... targs)

template<typename SmaccComponentType , typename TOrthogonal , typename TClient , typename... TArgs>
SmaccComponentType *	createSiblingNamedComponent (std::string name, TArgs... targs)

rclcpp::Node::SharedPtr	getNode ()

rclcpp::Logger	getLogger () const

ISmaccStateMachine *	getStateMachine ()

Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_

ISmaccClient *	owner_

Detailed Description

Definition at line 47 of file cp_kml_mission_loader.hpp.

Constructor & Destructor Documentation

◆ CpKmlMissionLoader()

cl_px4_mr::CpKmlMissionLoader::CpKmlMissionLoader ( )

Definition at line 146 of file cp_kml_mission_loader.cpp.

146{}

◆ ~CpKmlMissionLoader()

cl_px4_mr::CpKmlMissionLoader::~CpKmlMissionLoader ( )

virtual

Definition at line 148 of file cp_kml_mission_loader.cpp.

148{}

Member Function Documentation

◆ clear()

void cl_px4_mr::CpKmlMissionLoader::clear ( )

Definition at line 231 of file cp_kml_mission_loader.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  mission_.clear();
  source_.clear();
}

References mission_, mutex_, and source_.

◆ getMission()

std::vector< GeoPoint > cl_px4_mr::CpKmlMissionLoader::getMission ( ) const

Definition at line 219 of file cp_kml_mission_loader.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  return mission_;
}

References mission_, and mutex_.

◆ getSource()

std::string cl_px4_mr::CpKmlMissionLoader::getSource ( ) const

Definition at line 225 of file cp_kml_mission_loader.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  return source_;
}

References mutex_, and source_.

◆ hasMission()

bool cl_px4_mr::CpKmlMissionLoader::hasMission ( ) const

Definition at line 213 of file cp_kml_mission_loader.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  return !mission_.empty();
}

References mission_, and mutex_.

◆ loadFile()

KmlLoadResult cl_px4_mr::CpKmlMissionLoader::loadFile ( const std::string & absolutePath )

Definition at line 167 of file cp_kml_mission_loader.cpp.

{
  KmlLoadResult result;
 
  tinyxml2::XMLDocument doc;
  const tinyxml2::XMLError status = doc.LoadFile(absolutePath.c_str());
  if (status != tinyxml2::XML_SUCCESS)
  {
    result.error = std::string("cannot load '") + absolutePath +
                   "': " + (doc.ErrorStr() ? doc.ErrorStr() : "unknown error");
    RCLCPP_WARN(getLogger(), "CpKmlMissionLoader: %s", result.error.c_str());
    return result;
  }
 
  std::string error;
  std::vector<GeoPoint> points = parseDocument(doc, error);
  if (points.empty())
  {
    result.error = "'" + absolutePath + "': " + error;
    RCLCPP_WARN(getLogger(), "CpKmlMissionLoader: %s", result.error.c_str());
    return result;
  }
 
  {
    std::lock_guard<std::mutex> lock(mutex_);
    mission_ = points;
    source_ = absolutePath;
  }
 
  result.ok = true;
  result.pointCount = points.size();
  RCLCPP_INFO(
    getLogger(),
    "CpKmlMissionLoader: loaded %zu backbone points from '%s' (first %.6f,%.6f last %.6f,%.6f)",
    points.size(), absolutePath.c_str(), points.front().lat, points.front().lon, points.back().lat,
    points.back().lon);
  return result;
}

References cl_px4_mr::KmlLoadResult::error, smacc2::ISmaccComponent::getLogger(), mission_, mutex_, cl_px4_mr::KmlLoadResult::ok, cl_px4_mr::KmlLoadResult::pointCount, and source_.

Referenced by cl_px4_mr::CbLoadKmlMission::onEntry().

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◆ onInitialize()

void cl_px4_mr::CpKmlMissionLoader::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 150 of file cp_kml_mission_loader.cpp.

{
  RCLCPP_INFO(getLogger(), "CpKmlMissionLoader: ready (first LineString backbone only)");
}

References smacc2::ISmaccComponent::getLogger().

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◆ parseKmlString()

std::vector< GeoPoint > cl_px4_mr::CpKmlMissionLoader::parseKmlString	(	const std::string &	xml,
		std::string &	error )

static

Definition at line 155 of file cp_kml_mission_loader.cpp.

{
  tinyxml2::XMLDocument doc;
  if (doc.Parse(xml.c_str(), xml.size()) != tinyxml2::XML_SUCCESS)
  {
    error = std::string("XML parse error: ") + (doc.ErrorStr() ? doc.ErrorStr() : "unknown");
    return {};
  }
  return parseDocument(doc, error);
}

◆ setMission()

void cl_px4_mr::CpKmlMissionLoader::setMission	(	std::vector< GeoPoint >	points,
		const std::string &	source )

Definition at line 206 of file cp_kml_mission_loader.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  mission_ = std::move(points);
  source_ = source;
}

References mission_, mutex_, and source_.

Referenced by cl_px4_mr::CbLoadKmlMission::onEntry().

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Member Data Documentation

◆ mission_

std::vector<GeoPoint> cl_px4_mr::CpKmlMissionLoader::mission_

private

Definition at line 73 of file cp_kml_mission_loader.hpp.

Referenced by clear(), getMission(), hasMission(), loadFile(), and setMission().

◆ mutex_

std::mutex cl_px4_mr::CpKmlMissionLoader::mutex_

mutableprivate

Definition at line 72 of file cp_kml_mission_loader.hpp.

Referenced by clear(), getMission(), getSource(), hasMission(), loadFile(), and setMission().

◆ source_

std::string cl_px4_mr::CpKmlMissionLoader::source_