ModeExecutor< ActionT > Class Template Reference

#include <auto_apms_px4/mode_executor.hpp>

Inheritance diagram for ModeExecutor< ActionT >:

Public Types
using	FlightMode = VehicleCommandClient::FlightMode
using	TaskStatus = auto_apms_core::TaskStatus
Public Types inherited from Task< ActionT >
using	Status = TaskStatus
using	ActionContextType = ActionContext<ActionT>
using	Goal = typename ActionContextType::Goal
using	Feedback = typename ActionContextType::Feedback
using	Result = typename ActionContextType::Result
using	GoalHandle = typename ActionContextType::GoalHandle

Public Member Functions
	ModeExecutor (const std::string &name, rclcpp::Node::SharedPtr node_ptr, std::shared_ptr< ActionContextType > action_context_ptr, uint8_t mode_id, bool deactivate_before_completion=true, std::chrono::milliseconds execution_interval=DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval=DEFAULT_VALUE_FEEDBACK_INTERVAL)
	ModeExecutor (const std::string &name, const rclcpp::NodeOptions &options, uint8_t mode_id, bool deactivate_before_completion=true, std::chrono::milliseconds execution_interval=DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval=DEFAULT_VALUE_FEEDBACK_INTERVAL)
	ModeExecutor (const std::string &name, const rclcpp::NodeOptions &options, FlightMode flight_mode, bool deactivate_before_completion=true, std::chrono::milliseconds execution_interval=DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval=DEFAULT_VALUE_FEEDBACK_INTERVAL)
Public Member Functions inherited from Task< ActionT >
	Task (const std::string &name, rclcpp::Node::SharedPtr node_ptr, std::shared_ptr< ActionContextType > action_context_ptr, std::chrono::milliseconds execution_interval=DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval=DEFAULT_VALUE_FEEDBACK_INTERVAL)
	Task (const std::string &name, rclcpp::Node::SharedPtr node_ptr, std::chrono::milliseconds execution_interval=DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval=DEFAULT_VALUE_FEEDBACK_INTERVAL)
	Task (const std::string &name, const rclcpp::NodeOptions &options, std::chrono::milliseconds execution_interval=DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval=DEFAULT_VALUE_FEEDBACK_INTERVAL)
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr	get_node_base_interface () const

Protected Member Functions
bool	isCurrentNavState (uint8_t nav_state)
virtual bool	sendActivationCommand (const VehicleCommandClient &client, std::shared_ptr< const Goal > goal_ptr)
virtual bool	isCompleted (std::shared_ptr< const Goal > goal_ptr, const px4_msgs::msg::VehicleStatus &vehicle_status)
virtual void	setFeedback (std::shared_ptr< Feedback > feedback_ptr, const px4_msgs::msg::VehicleStatus &vehicle_status)
uint8_t	getModeID () const

Additional Inherited Members
Static Public Attributes inherited from Task< ActionT >
static constexpr std::chrono::milliseconds	DEFAULT_VALUE_EXECUTION_INTERVAL { 10 }
static constexpr std::chrono::milliseconds	DEFAULT_VALUE_FEEDBACK_INTERVAL { 200 }
static constexpr char	PARAM_NAME_FEEDBACK_INTERVAL [] = "feedback_interval_ms"
Protected Attributes inherited from Task< ActionT >
rclcpp::Node::SharedPtr	node_ptr_
std::shared_ptr< ActionContextType >	action_context_ptr_

Detailed Description

template<class ActionT>
class auto_apms_px4::ModeExecutor< ActionT >

Definition at line 28 of file mode_executor.hpp.

Member Typedef Documentation

FlightMode

template<class ActionT >

using FlightMode = VehicleCommandClient::FlightMode

Definition at line 42 of file mode_executor.hpp.

TaskStatus

template<class ActionT >

using TaskStatus = auto_apms_core::TaskStatus

Definition at line 47 of file mode_executor.hpp.

Constructor & Destructor Documentation

ModeExecutor() [1/3]

template<class ActionT >

ModeExecutor ( const std::string & name, rclcpp::Node::SharedPtr node_ptr, std::shared_ptr< ActionContextType > action_context_ptr, uint8_t mode_id, bool deactivate_before_completion = true, std::chrono::milliseconds execution_interval = DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval = DEFAULT_VALUE_FEEDBACK_INTERVAL )

explicit

Definition at line 94 of file mode_executor.hpp.

ModeExecutor() [2/3]

template<class ActionT >

ModeExecutor ( const std::string & name, const rclcpp::NodeOptions & options, uint8_t mode_id, bool deactivate_before_completion = true, std::chrono::milliseconds execution_interval = DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval = DEFAULT_VALUE_FEEDBACK_INTERVAL )

explicit

Definition at line 107 of file mode_executor.hpp.

ModeExecutor() [3/3]

template<class ActionT >

ModeExecutor ( const std::string & name, const rclcpp::NodeOptions & options, FlightMode flight_mode, bool deactivate_before_completion = true, std::chrono::milliseconds execution_interval = DEFAULT_VALUE_EXECUTION_INTERVAL, std::chrono::milliseconds feedback_interval = DEFAULT_VALUE_FEEDBACK_INTERVAL )

explicit

Definition at line 119 of file mode_executor.hpp.

Member Function Documentation

isCurrentNavState()

template<class ActionT >

bool isCurrentNavState ( uint8_t nav_state )

protected

Definition at line 245 of file mode_executor.hpp.

sendActivationCommand()

template<class ActionT >

bool sendActivationCommand ( const VehicleCommandClient & client, std::shared_ptr< const Goal > goal_ptr )

protectedvirtual

Definition at line 336 of file mode_executor.hpp.

isCompleted()

template<class ActionT >

bool isCompleted ( std::shared_ptr< const Goal > goal_ptr, const px4_msgs::msg::VehicleStatus & vehicle_status )

protectedvirtual

Definition at line 344 of file mode_executor.hpp.

setFeedback()

template<class ActionT >

void setFeedback ( std::shared_ptr< Feedback > feedback_ptr, const px4_msgs::msg::VehicleStatus & vehicle_status )

protectedvirtual

Definition at line 353 of file mode_executor.hpp.

getModeID()

template<class ActionT >

uint8_t getModeID ( ) const

protected

Definition at line 362 of file mode_executor.hpp.

---

The documentation for this class was generated from the following file:

• auto_apms_px4/include/auto_apms_px4/mode_executor.hpp