Program Listing for File is_flying_condition.hpp
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/*!*******************************************************************************************
* \file is_flying_condition.hpp
* \brief behavior tree node to check if an aircraft is flying
* \authors Pedro Arias Pérez
* Miguel Fernández Cortizas
* David Pérez Saura
* Rafael Pérez Seguí
*
* \copyright Copyright (c) 2022 Universidad Politécnica de Madrid
* All Rights Reserved
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions are met:
*
* 1. Redistributions of source code must retain the above copyright notice,
* this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright notice,
* this list of conditions and the following disclaimer in the documentation
* and/or other materials provided with the distribution.
* 3. Neither the name of the copyright holder nor the names of its contributors
* may be used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
* THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
* PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
* EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
* PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
* OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
* WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
* OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
* EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
********************************************************************************/
#ifndef IS_FLYING_CONDITION_HPP
#define IS_FLYING_CONDITION_HPP
#include <string>
#include "behaviortree_cpp_v3/condition_node.h"
#include "as2_core/names/topics.hpp"
#include "as2_msgs/msg/platform_info.hpp"
#include "as2_msgs/msg/platform_status.hpp"
#include "rclcpp/rclcpp.hpp"
namespace as2_behavior_tree {
class IsFlyingCondition : public BT::ConditionNode {
public:
IsFlyingCondition(const std::string &xml_tag_name,
const BT::NodeConfiguration &conf);
IsFlyingCondition() = delete;
BT::NodeStatus tick() override;
static BT::PortsList providedPorts() { return {}; }
private:
void stateCallback(as2_msgs::msg::PlatformInfo::SharedPtr msg) {
is_flying_ = msg->status.state == as2_msgs::msg::PlatformStatus::FLYING;
}
private:
rclcpp::Node::SharedPtr node_;
rclcpp::CallbackGroup::SharedPtr callback_group_;
rclcpp::executors::SingleThreadedExecutor callback_group_executor_;
rclcpp::Subscription<as2_msgs::msg::PlatformInfo>::SharedPtr state_sub_;
bool is_flying_ = false;
};
} // namespace as2_behavior_tree
#endif // IS_FLYING_CONDITION_HPP