cl_px4_mr::CpVehicleCommand Class Reference

#include <cp_vehicle_command.hpp>

Inheritance diagram for cl_px4_mr::CpVehicleCommand:

Collaboration diagram for cl_px4_mr::CpVehicleCommand:

Public Member Functions
	CpVehicleCommand ()
virtual	~CpVehicleCommand ()
void	onInitialize () override
void	sendCommand (uint32_t command, float param1=0.0f, float param2=0.0f, float param3=0.0f, float param4=0.0f, double param5=0.0, double param6=0.0, float param7=0.0f)
void	arm ()
void	forceArm ()
void	disarm ()
void	setOffboardMode ()
void	land ()
void	takeoff (float altitude)
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Private Attributes
rclcpp::Publisher< px4_msgs::msg::VehicleCommand >::SharedPtr	publisher_

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 24 of file cp_vehicle_command.hpp.

Constructor & Destructor Documentation

CpVehicleCommand()

cl_px4_mr::CpVehicleCommand::CpVehicleCommand

(

)

Definition at line 20 of file cp_vehicle_command.cpp.

{}

~CpVehicleCommand()

cl_px4_mr::CpVehicleCommand::~CpVehicleCommand ( )

virtual

Definition at line 22 of file cp_vehicle_command.cpp.

{}

Member Function Documentation

arm()

void cl_px4_mr::CpVehicleCommand::arm

(

)

Definition at line 58 of file cp_vehicle_command.cpp.

{
  sendCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0f);
}

References sendCommand().

Referenced by cl_px4_mr::CbArmPX4::onEntry().

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disarm()

void cl_px4_mr::CpVehicleCommand::disarm

(

)

Definition at line 69 of file cp_vehicle_command.cpp.

{
  sendCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 0.0f);
}

References sendCommand().

Referenced by cl_px4_mr::CbDisarmPX4::onEntry().

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forceArm()

void cl_px4_mr::CpVehicleCommand::forceArm

(

)

Definition at line 63 of file cp_vehicle_command.cpp.

{
  // param2 = 21196 bypasses pre-arm checks (useful for SITL without RC/GCS)
  sendCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_COMPONENT_ARM_DISARM, 1.0f, 21196.0f);
}

References sendCommand().

Referenced by cl_px4_mr::CbArmPX4::onEntry().

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land()

void cl_px4_mr::CpVehicleCommand::land

(

)

Definition at line 79 of file cp_vehicle_command.cpp.

{ sendCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_NAV_LAND); }

References sendCommand().

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

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onInitialize()

void cl_px4_mr::CpVehicleCommand::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 24 of file cp_vehicle_command.cpp.

{
  auto node = this->getNode();
  publisher_ = node->create_publisher<px4_msgs::msg::VehicleCommand>(
    "/fmu/in/vehicle_command", rclcpp::QoS(1).best_effort());
  RCLCPP_INFO(getLogger(), "CpVehicleCommand: publisher created on /fmu/in/vehicle_command");
}

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

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sendCommand()

void cl_px4_mr::CpVehicleCommand::sendCommand	(	uint32_t	command,
		float	param1 = 0.0f,
		float	param2 = 0.0f,
		float	param3 = 0.0f,
		float	param4 = 0.0f,
		double	param5 = 0.0,
		double	param6 = 0.0,
		float	param7 = 0.0f )

Definition at line 32 of file cp_vehicle_command.cpp.

{
  auto node = this->getNode();
  px4_msgs::msg::VehicleCommand msg;
  msg.timestamp = node->get_clock()->now().nanoseconds() / 1000;
  msg.command = command;
  msg.param1 = param1;
  msg.param2 = param2;
  msg.param3 = param3;
  msg.param4 = param4;
  msg.param5 = param5;
  msg.param6 = param6;
  msg.param7 = param7;
  msg.target_system = 1;
  msg.target_component = 1;
  msg.source_system = 1;
  msg.source_component = 1;
  msg.from_external = true;
  publisher_->publish(msg);
  RCLCPP_INFO(
    getLogger(), "CpVehicleCommand: sent command %u (p1=%.1f p2=%.1f p7=%.1f)", command, param1,
    param2, param7);
}

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

Referenced by arm(), disarm(), forceArm(), land(), setOffboardMode(), and takeoff().

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setOffboardMode()

void cl_px4_mr::CpVehicleCommand::setOffboardMode

(

)

Definition at line 74 of file cp_vehicle_command.cpp.

{
  sendCommand(px4_msgs::msg::VehicleCommand::VEHICLE_CMD_DO_SET_MODE, 1.0f, 6.0f);
}

References sendCommand().

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

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takeoff()

void cl_px4_mr::CpVehicleCommand::takeoff

(

float

altitude

)

Definition at line 81 of file cp_vehicle_command.cpp.

{
  sendCommand(
    px4_msgs::msg::VehicleCommand::VEHICLE_CMD_NAV_TAKEOFF, 0.0f, 0.0f, 0.0f, 0.0f, 0.0, 0.0,
    altitude);
}

References sendCommand().

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Member Data Documentation

publisher_

rclcpp::Publisher<px4_msgs::msg::VehicleCommand>::SharedPtr cl_px4_mr::CpVehicleCommand::publisher_

private

Definition at line 44 of file cp_vehicle_command.hpp.

Referenced by onInitialize(), and sendCommand().

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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_vehicle_command.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/components/cp_vehicle_command.cpp