cl_px4_mr::CpVehicleLocalPosition Class Reference

#include <cp_vehicle_local_position.hpp>

Inheritance diagram for cl_px4_mr::CpVehicleLocalPosition:

Collaboration diagram for cl_px4_mr::CpVehicleLocalPosition:

Public Member Functions
	CpVehicleLocalPosition ()
virtual	~CpVehicleLocalPosition ()
void	onInitialize () override
float	getX () const
float	getY () const
float	getZ () const
float	getHeading () const
bool	isValid () const
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

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

Private Member Functions
void	onPositionMessage (const px4_msgs::msg::VehicleLocalPosition::SharedPtr msg)

Private Attributes
rclcpp::Subscription< px4_msgs::msg::VehicleLocalPosition >::SharedPtr	subscriber_
float	x_ = 0.0f
float	y_ = 0.0f
float	z_ = 0.0f
float	heading_ = 0.0f
bool	valid_ = false
std::mutex	mutex_

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 25 of file cp_vehicle_local_position.hpp.

Constructor & Destructor Documentation

CpVehicleLocalPosition()

cl_px4_mr::CpVehicleLocalPosition::CpVehicleLocalPosition

(

)

Definition at line 20 of file cp_vehicle_local_position.cpp.

{}

~CpVehicleLocalPosition()

cl_px4_mr::CpVehicleLocalPosition::~CpVehicleLocalPosition ( )

virtual

Definition at line 22 of file cp_vehicle_local_position.cpp.

{}

Member Function Documentation

getHeading()

float cl_px4_mr::CpVehicleLocalPosition::getHeading

(

)

const

Definition at line 64 of file cp_vehicle_local_position.cpp.

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

References heading_, and mutex_.

Referenced by cl_px4_mr::CpTrajectorySetpoint::hold(), and cl_px4_mr::CbTakeOff::onEntry().

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getX()

float cl_px4_mr::CpVehicleLocalPosition::getX

(

)

const

Definition at line 46 of file cp_vehicle_local_position.cpp.

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

References mutex_, and x_.

Referenced by cl_px4_mr::CpTrajectorySetpoint::hold(), cl_px4_mr::CbOrbitLocation::onEntry(), cl_px4_mr::CbTakeOff::onEntry(), and cl_px4_mr::CpGoalChecker::update().

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getY()

float cl_px4_mr::CpVehicleLocalPosition::getY

(

)

const

Definition at line 52 of file cp_vehicle_local_position.cpp.

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

References mutex_, and y_.

Referenced by cl_px4_mr::CpTrajectorySetpoint::hold(), cl_px4_mr::CbOrbitLocation::onEntry(), cl_px4_mr::CbTakeOff::onEntry(), and cl_px4_mr::CpGoalChecker::update().

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getZ()

float cl_px4_mr::CpVehicleLocalPosition::getZ

(

)

const

Definition at line 58 of file cp_vehicle_local_position.cpp.

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

References mutex_, and z_.

Referenced by cl_px4_mr::CpTrajectorySetpoint::hold(), and cl_px4_mr::CpGoalChecker::update().

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isValid()

bool cl_px4_mr::CpVehicleLocalPosition::isValid

(

)

const

Definition at line 70 of file cp_vehicle_local_position.cpp.

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

References mutex_, and valid_.

Referenced by cl_px4_mr::CpTrajectorySetpoint::hold(), and cl_px4_mr::CpGoalChecker::update().

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onInitialize()

void cl_px4_mr::CpVehicleLocalPosition::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 24 of file cp_vehicle_local_position.cpp.

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

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

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onPositionMessage()

void cl_px4_mr::CpVehicleLocalPosition::onPositionMessage ( const px4_msgs::msg::VehicleLocalPosition::SharedPtr msg )

private

Definition at line 33 of file cp_vehicle_local_position.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  x_ = msg->x;
  y_ = msg->y;
  z_ = msg->z;
  heading_ = msg->heading;
  valid_ = msg->xy_valid && msg->z_valid;
 
  onPositionReceived_();
}

References heading_, mutex_, onPositionReceived_, valid_, x_, y_, and z_.

Referenced by onInitialize().

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Member Data Documentation

heading_

float cl_px4_mr::CpVehicleLocalPosition::heading_ = 0.0f

private

Definition at line 48 of file cp_vehicle_local_position.hpp.

Referenced by getHeading(), and onPositionMessage().

mutex_

std::mutex cl_px4_mr::CpVehicleLocalPosition::mutex_

mutableprivate

Definition at line 50 of file cp_vehicle_local_position.hpp.

Referenced by getHeading(), getX(), getY(), getZ(), isValid(), and onPositionMessage().

onPositionReceived_

smacc2::SmaccSignal<void()> cl_px4_mr::CpVehicleLocalPosition::onPositionReceived_

Definition at line 39 of file cp_vehicle_local_position.hpp.

Referenced by onPositionMessage().

subscriber_

rclcpp::Subscription<px4_msgs::msg::VehicleLocalPosition>::SharedPtr cl_px4_mr::CpVehicleLocalPosition::subscriber_

private

Definition at line 44 of file cp_vehicle_local_position.hpp.

Referenced by onInitialize().

valid_

bool cl_px4_mr::CpVehicleLocalPosition::valid_ = false

private

Definition at line 49 of file cp_vehicle_local_position.hpp.

Referenced by isValid(), and onPositionMessage().

x_

float cl_px4_mr::CpVehicleLocalPosition::x_ = 0.0f

private

Definition at line 45 of file cp_vehicle_local_position.hpp.

Referenced by getX(), and onPositionMessage().

y_

float cl_px4_mr::CpVehicleLocalPosition::y_ = 0.0f

private

Definition at line 46 of file cp_vehicle_local_position.hpp.

Referenced by getY(), and onPositionMessage().

z_

float cl_px4_mr::CpVehicleLocalPosition::z_ = 0.0f

private

Definition at line 47 of file cp_vehicle_local_position.hpp.

Referenced by getZ(), and onPositionMessage().

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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_local_position.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/components/cp_vehicle_local_position.cpp