arm.cpp

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// Copyright 2024 Robin Müller
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      https://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#include "auto_apms_behavior_tree/node.hpp"
#include "auto_apms_interfaces/action/arm_disarm.hpp"
 
#define INPUT_KEY_WAIT "wait_until_ready_to_arm"
 
namespace auto_apms_px4
{
 
class ArmAction : public auto_apms_behavior_tree::RosActionNode<auto_apms_interfaces::action::ArmDisarm>
{
public:
  using RosActionNode::RosActionNode;
 
  static BT::PortsList providedPorts()
  {
    return providedBasicPorts({ BT::InputPort<bool>(INPUT_KEY_WAIT, true,
                                                    "Wait for the UAV to be ready for arming. If false and UAV is not "
                                                    "ready to arm, will "
                                                    "be rejected.") });
  }
 
  bool setGoal(Goal& goal)
  {
    goal.arming_state = Goal::ARMING_STATE_ARM;
    goal.wait_until_ready_to_arm = getInput<bool>(INPUT_KEY_WAIT).value();
    return true;
  }
};
 
}  // namespace auto_apms_px4
 
AUTO_APMS_BEHAVIOR_TREE_REGISTER_NODE(auto_apms_px4::ArmAction)