cl_px4_mr::CpVehicleCommandAck Class Reference

#include <cp_vehicle_command_ack.hpp>

Inheritance diagram for cl_px4_mr::CpVehicleCommandAck:

Collaboration diagram for cl_px4_mr::CpVehicleCommandAck:

Public Member Functions
	CpVehicleCommandAck ()
virtual	~CpVehicleCommandAck ()
void	onInitialize () override
uint32_t	getLastAckCommand () const
uint8_t	getLastAckResult () const
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Public Attributes
smacc2::SmaccSignal< void()>	onAckReceived_

Private Member Functions
void	onAckMessage (const px4_msgs::msg::VehicleCommandAck::SharedPtr msg)

Private Attributes
rclcpp::Subscription< px4_msgs::msg::VehicleCommandAck >::SharedPtr	subscriber_
uint32_t	lastCommand_ = 0
uint8_t	lastResult_ = 0

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_ack.hpp.

Constructor & Destructor Documentation

CpVehicleCommandAck()

cl_px4_mr::CpVehicleCommandAck::CpVehicleCommandAck

(

)

Definition at line 20 of file cp_vehicle_command_ack.cpp.

{}

~CpVehicleCommandAck()

cl_px4_mr::CpVehicleCommandAck::~CpVehicleCommandAck ( )

virtual

Definition at line 22 of file cp_vehicle_command_ack.cpp.

{}

Member Function Documentation

getLastAckCommand()

uint32_t cl_px4_mr::CpVehicleCommandAck::getLastAckCommand

(

)

const

Definition at line 41 of file cp_vehicle_command_ack.cpp.

{ return lastCommand_; }

References lastCommand_.

getLastAckResult()

uint8_t cl_px4_mr::CpVehicleCommandAck::getLastAckResult

(

)

const

Definition at line 43 of file cp_vehicle_command_ack.cpp.

{ return lastResult_; }

References lastResult_.

onAckMessage()

void cl_px4_mr::CpVehicleCommandAck::onAckMessage ( const px4_msgs::msg::VehicleCommandAck::SharedPtr msg )

private

Definition at line 33 of file cp_vehicle_command_ack.cpp.

{
  lastCommand_ = msg->command;
  lastResult_ = msg->result;
  RCLCPP_INFO(getLogger(), "CpVehicleCommandAck: command=%u result=%u", msg->command, msg->result);
  onAckReceived_();
}

References smacc2::ISmaccComponent::getLogger(), lastCommand_, lastResult_, and onAckReceived_.

Referenced by onInitialize().

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onInitialize()

void cl_px4_mr::CpVehicleCommandAck::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 24 of file cp_vehicle_command_ack.cpp.

{
  auto node = this->getNode();
  subscriber_ = node->create_subscription<px4_msgs::msg::VehicleCommandAck>(
    "/fmu/out/vehicle_command_ack", rclcpp::SensorDataQoS(),
    std::bind(&CpVehicleCommandAck::onAckMessage, this, std::placeholders::_1));
  RCLCPP_INFO(getLogger(), "CpVehicleCommandAck: subscribed to /fmu/out/vehicle_command_ack");
}

References smacc2::ISmaccComponent::getLogger(), smacc2::ISmaccComponent::getNode(), onAckMessage(), and subscriber_.

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Member Data Documentation

lastCommand_

uint32_t cl_px4_mr::CpVehicleCommandAck::lastCommand_ = 0

private

Definition at line 41 of file cp_vehicle_command_ack.hpp.

Referenced by getLastAckCommand(), and onAckMessage().

lastResult_

uint8_t cl_px4_mr::CpVehicleCommandAck::lastResult_ = 0

private

Definition at line 42 of file cp_vehicle_command_ack.hpp.

Referenced by getLastAckResult(), and onAckMessage().

onAckReceived_

smacc2::SmaccSignal<void()> cl_px4_mr::CpVehicleCommandAck::onAckReceived_

Definition at line 35 of file cp_vehicle_command_ack.hpp.

Referenced by onAckMessage().

subscriber_

rclcpp::Subscription<px4_msgs::msg::VehicleCommandAck>::SharedPtr cl_px4_mr::CpVehicleCommandAck::subscriber_

private

Definition at line 40 of file cp_vehicle_command_ack.hpp.

Referenced by onInitialize().

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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_ack.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/components/cp_vehicle_command_ack.cpp