Program Listing for File is_flying_condition.hpp

↰ Return to documentation for file (include/as2_behavior_tree/condition/is_flying_condition.hpp)

// Copyright 2024 Universidad Politécnica de Madrid
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * 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.
//
//    * Neither the name of the Universidad Politécnica de Madrid 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 AS2_BEHAVIOR_TREE__CONDITION__IS_FLYING_CONDITION_HPP_
#define AS2_BEHAVIOR_TREE__CONDITION__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  // AS2_BEHAVIOR_TREE__CONDITION__IS_FLYING_CONDITION_HPP_