cl_px4_mr::CpOffboardKeepAlive Class Reference

#include <cp_offboard_keep_alive.hpp>

Inheritance diagram for cl_px4_mr::CpOffboardKeepAlive:

Collaboration diagram for cl_px4_mr::CpOffboardKeepAlive:

Public Member Functions
	CpOffboardKeepAlive ()
virtual	~CpOffboardKeepAlive ()
void	onInitialize () override
void	update () override
void	enable ()
void	disable ()
bool	isEnabled () const
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const
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
rclcpp::Publisher< px4_msgs::msg::OffboardControlMode >::SharedPtr	publisher_
CpTrajectorySetpoint *	trajectorySetpoint_ = nullptr
bool	enabled_ = false

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 Member Functions inherited from smacc2::ISmaccUpdatable
Protected Attributes inherited from smacc2::ISmaccComponent
ISmaccStateMachine *	stateMachine_
ISmaccClient *	owner_

Detailed Description

Definition at line 26 of file cp_offboard_keep_alive.hpp.

Constructor & Destructor Documentation

CpOffboardKeepAlive()

cl_px4_mr::CpOffboardKeepAlive::CpOffboardKeepAlive

(

)

Definition at line 21 of file cp_offboard_keep_alive.cpp.

{}

~CpOffboardKeepAlive()

cl_px4_mr::CpOffboardKeepAlive::~CpOffboardKeepAlive ( )

virtual

Definition at line 23 of file cp_offboard_keep_alive.cpp.

{}

Member Function Documentation

disable()

void cl_px4_mr::CpOffboardKeepAlive::disable

(

)

Definition at line 66 of file cp_offboard_keep_alive.cpp.

{
  enabled_ = false;
  RCLCPP_INFO(getLogger(), "CpOffboardKeepAlive: DISABLED");
}

References enabled_, and smacc2::ISmaccComponent::getLogger().

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

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enable()

void cl_px4_mr::CpOffboardKeepAlive::enable

(

)

Definition at line 60 of file cp_offboard_keep_alive.cpp.

{
  enabled_ = true;
  RCLCPP_INFO(getLogger(), "CpOffboardKeepAlive: ENABLED");
}

References enabled_, and smacc2::ISmaccComponent::getLogger().

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

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isEnabled()

bool cl_px4_mr::CpOffboardKeepAlive::isEnabled

(

)

const

Definition at line 72 of file cp_offboard_keep_alive.cpp.

{ return enabled_; }

References enabled_.

onInitialize()

void cl_px4_mr::CpOffboardKeepAlive::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 25 of file cp_offboard_keep_alive.cpp.

{
  auto node = this->getNode();
  publisher_ = node->create_publisher<px4_msgs::msg::OffboardControlMode>(
    "/fmu/in/offboard_control_mode", rclcpp::QoS(1).best_effort());
 
  this->requiresComponent(trajectorySetpoint_);
 
  RCLCPP_INFO(getLogger(), "CpOffboardKeepAlive: initialized (disabled)");
}

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getNode(), publisher_, smacc2::ISmaccComponent::requiresComponent(), and trajectorySetpoint_.

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update()

void cl_px4_mr::CpOffboardKeepAlive::update ( )

overridevirtual

Implements smacc2::ISmaccUpdatable.

Definition at line 36 of file cp_offboard_keep_alive.cpp.

{
  if (!enabled_) return;
 
  auto node = this->getNode();
 
  px4_msgs::msg::OffboardControlMode msg;
  msg.timestamp = node->get_clock()->now().nanoseconds() / 1000;
  msg.position = true;
  msg.velocity = false;
  msg.acceleration = false;
  msg.attitude = false;
  msg.body_rate = false;
  msg.thrust_and_torque = false;
  msg.direct_actuator = false;
  publisher_->publish(msg);
 
  // Republish the latest trajectory setpoint to keep PX4 happy
  if (trajectorySetpoint_)
  {
    trajectorySetpoint_->republishLast();
  }
}

References enabled_, smacc2::ISmaccComponent::getNode(), publisher_, cl_px4_mr::CpTrajectorySetpoint::republishLast(), and trajectorySetpoint_.

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Member Data Documentation

enabled_

bool cl_px4_mr::CpOffboardKeepAlive::enabled_ = false

private

Definition at line 42 of file cp_offboard_keep_alive.hpp.

Referenced by disable(), enable(), isEnabled(), and update().

publisher_

rclcpp::Publisher<px4_msgs::msg::OffboardControlMode>::SharedPtr cl_px4_mr::CpOffboardKeepAlive::publisher_

private

Definition at line 40 of file cp_offboard_keep_alive.hpp.

Referenced by onInitialize(), and update().

trajectorySetpoint_

CpTrajectorySetpoint* cl_px4_mr::CpOffboardKeepAlive::trajectorySetpoint_ = nullptr

private

Definition at line 41 of file cp_offboard_keep_alive.hpp.

Referenced by onInitialize(), and update().

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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/components/cp_offboard_keep_alive.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/components/cp_offboard_keep_alive.cpp