Program Listing for File is_flying_condition.cpp
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/*!*******************************************************************************************
* \file is_flying_condition.cpp
* \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.
********************************************************************************/
#include "as2_behavior_tree/condition/is_flying_condition.hpp"
namespace as2_behavior_tree {
IsFlyingCondition::IsFlyingCondition(const std::string &xml_tag_name,
const BT::NodeConfiguration &conf)
: BT::ConditionNode(xml_tag_name, conf) {
node_ = config().blackboard->get<rclcpp::Node::SharedPtr>("node");
callback_group_ = node_->create_callback_group(
rclcpp::CallbackGroupType::MutuallyExclusive, false);
callback_group_executor_.add_callback_group(callback_group_,
node_->get_node_base_interface());
rclcpp::SubscriptionOptions sub_option;
sub_option.callback_group = callback_group_;
state_sub_ = node_->create_subscription<as2_msgs::msg::PlatformInfo>(
as2_names::topics::platform::info, as2_names::topics::platform::qos,
std::bind(&IsFlyingCondition::stateCallback, this, std::placeholders::_1),
sub_option);
}
BT::NodeStatus IsFlyingCondition::tick() {
callback_group_executor_.spin_some();
if (is_flying_) {
return BT::NodeStatus::SUCCESS;
}
return BT::NodeStatus::FAILURE;
}
} // namespace as2_behavior_tree