cl_px4_mr::CpVehicleStatus Class Reference

#include <cp_vehicle_status.hpp>

Inheritance diagram for cl_px4_mr::CpVehicleStatus:

Collaboration diagram for cl_px4_mr::CpVehicleStatus:

Public Member Functions
	CpVehicleStatus ()
virtual	~CpVehicleStatus ()
void	onInitialize () override
bool	isArmed () const
bool	isLanded () const
uint8_t	getNavState () const
uint8_t	getArmingState () const
Public Member Functions inherited from smacc2::ISmaccComponent
	ISmaccComponent ()
virtual	~ISmaccComponent ()
virtual std::string	getName () const

Public Attributes
smacc2::SmaccSignal< void()>	onArmed_
smacc2::SmaccSignal< void()>	onDisarmed_
smacc2::SmaccSignal< void()>	onModeChanged_
smacc2::SmaccSignal< void()>	onLanded_

Private Member Functions
void	onStatusMessage (const px4_msgs::msg::VehicleStatus::SharedPtr msg)

Private Attributes
rclcpp::Subscription< px4_msgs::msg::VehicleStatus >::SharedPtr	subscriber_
uint8_t	armingState_ = 0
uint8_t	navState_ = 0
uint8_t	prevArmingState_ = 0
uint8_t	prevNavState_ = 0
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_status.hpp.

Constructor & Destructor Documentation

CpVehicleStatus()

cl_px4_mr::CpVehicleStatus::CpVehicleStatus

(

)

Definition at line 20 of file cp_vehicle_status.cpp.

{}

~CpVehicleStatus()

cl_px4_mr::CpVehicleStatus::~CpVehicleStatus ( )

virtual

Definition at line 22 of file cp_vehicle_status.cpp.

{}

Member Function Documentation

getArmingState()

uint8_t cl_px4_mr::CpVehicleStatus::getArmingState

(

)

const

Definition at line 83 of file cp_vehicle_status.cpp.

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

References armingState_, and mutex_.

getNavState()

uint8_t cl_px4_mr::CpVehicleStatus::getNavState

(

)

const

Definition at line 77 of file cp_vehicle_status.cpp.

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

References mutex_, and navState_.

isArmed()

bool cl_px4_mr::CpVehicleStatus::isArmed

(

)

const

Definition at line 65 of file cp_vehicle_status.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  return armingState_ == px4_msgs::msg::VehicleStatus::ARMING_STATE_ARMED;
}

References armingState_, and mutex_.

isLanded()

bool cl_px4_mr::CpVehicleStatus::isLanded

(

)

const

Definition at line 71 of file cp_vehicle_status.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  return armingState_ == px4_msgs::msg::VehicleStatus::ARMING_STATE_DISARMED;
}

References armingState_, and mutex_.

onInitialize()

void cl_px4_mr::CpVehicleStatus::onInitialize ( )

overridevirtual

Reimplemented from smacc2::ISmaccComponent.

Definition at line 24 of file cp_vehicle_status.cpp.

{
  auto node = this->getNode();
  subscriber_ = node->create_subscription<px4_msgs::msg::VehicleStatus>(
    "/fmu/out/vehicle_status_v1", rclcpp::SensorDataQoS(),
    std::bind(&CpVehicleStatus::onStatusMessage, this, std::placeholders::_1));
  RCLCPP_INFO(getLogger(), "CpVehicleStatus: subscribed to /fmu/out/vehicle_status");
}

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

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onStatusMessage()

void cl_px4_mr::CpVehicleStatus::onStatusMessage ( const px4_msgs::msg::VehicleStatus::SharedPtr msg )

private

Definition at line 33 of file cp_vehicle_status.cpp.

{
  std::lock_guard<std::mutex> lock(mutex_);
  prevArmingState_ = armingState_;
  prevNavState_ = navState_;
  armingState_ = msg->arming_state;
  navState_ = msg->nav_state;
 
  // Detect arming state changes
  if (armingState_ != prevArmingState_)
  {
    if (armingState_ == px4_msgs::msg::VehicleStatus::ARMING_STATE_ARMED)
    {
      RCLCPP_INFO(getLogger(), "CpVehicleStatus: ARMED");
      onArmed_();
    }
    else if (armingState_ == px4_msgs::msg::VehicleStatus::ARMING_STATE_DISARMED)
    {
      RCLCPP_INFO(getLogger(), "CpVehicleStatus: DISARMED");
      onDisarmed_();
    }
  }
 
  // Detect nav state changes
  if (navState_ != prevNavState_)
  {
    RCLCPP_INFO(
      getLogger(), "CpVehicleStatus: nav_state changed %u -> %u", prevNavState_, navState_);
    onModeChanged_();
  }
}

References armingState_, smacc2::ISmaccComponent::getLogger(), mutex_, navState_, onArmed_, onDisarmed_, onModeChanged_, prevArmingState_, and prevNavState_.

Referenced by onInitialize().

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Member Data Documentation

armingState_

uint8_t cl_px4_mr::CpVehicleStatus::armingState_ = 0

private

Definition at line 47 of file cp_vehicle_status.hpp.

Referenced by getArmingState(), isArmed(), isLanded(), and onStatusMessage().

mutex_

std::mutex cl_px4_mr::CpVehicleStatus::mutex_

mutableprivate

Definition at line 51 of file cp_vehicle_status.hpp.

Referenced by getArmingState(), getNavState(), isArmed(), isLanded(), and onStatusMessage().

navState_

uint8_t cl_px4_mr::CpVehicleStatus::navState_ = 0

private

Definition at line 48 of file cp_vehicle_status.hpp.

Referenced by getNavState(), and onStatusMessage().

onArmed_

smacc2::SmaccSignal<void()> cl_px4_mr::CpVehicleStatus::onArmed_

Definition at line 38 of file cp_vehicle_status.hpp.

Referenced by cl_px4_mr::CbArmPX4::onEntry(), and onStatusMessage().

onDisarmed_

smacc2::SmaccSignal<void()> cl_px4_mr::CpVehicleStatus::onDisarmed_

Definition at line 39 of file cp_vehicle_status.hpp.

Referenced by cl_px4_mr::CbDisarmPX4::onEntry(), cl_px4_mr::CbLand::onEntry(), and onStatusMessage().

onLanded_

smacc2::SmaccSignal<void()> cl_px4_mr::CpVehicleStatus::onLanded_

Definition at line 41 of file cp_vehicle_status.hpp.

onModeChanged_

smacc2::SmaccSignal<void()> cl_px4_mr::CpVehicleStatus::onModeChanged_

Definition at line 40 of file cp_vehicle_status.hpp.

Referenced by onStatusMessage().

prevArmingState_

uint8_t cl_px4_mr::CpVehicleStatus::prevArmingState_ = 0

private

Definition at line 49 of file cp_vehicle_status.hpp.

Referenced by onStatusMessage().

prevNavState_

uint8_t cl_px4_mr::CpVehicleStatus::prevNavState_ = 0

private

Definition at line 50 of file cp_vehicle_status.hpp.

Referenced by onStatusMessage().

subscriber_

rclcpp::Subscription<px4_msgs::msg::VehicleStatus>::SharedPtr cl_px4_mr::CpVehicleStatus::subscriber_

private

Definition at line 46 of file cp_vehicle_status.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_status.hpp
• smacc2_client_library/cl_px4_mr/src/cl_px4_mr/components/cp_vehicle_status.cpp