Program Listing for File go_to_plugin_position.cpp

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// 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
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// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.

#include "as2_motion_reference_handlers/position_motion.hpp"
#include "go_to_behavior/go_to_base.hpp"

namespace go_to_plugin_position
{
class Plugin : public go_to_base::GoToBase
{
private:
  std::shared_ptr<as2::motionReferenceHandlers::PositionMotion> position_motion_handler_ = nullptr;

public:
  void ownInit()
  {
    position_motion_handler_ =
      std::make_shared<as2::motionReferenceHandlers::PositionMotion>(node_ptr_);
  }

  bool own_activate(as2_msgs::action::GoToWaypoint::Goal & _goal) override
  {
    if (!computeYaw(
        _goal.yaw.mode, _goal.target_pose.point, actual_pose_.pose.position,
        _goal.yaw.angle))
    {
      return false;
    }
    RCLCPP_INFO(node_ptr_->get_logger(), "GoTo goal accepted");
    RCLCPP_INFO(
      node_ptr_->get_logger(), "GoTo to position: %f, %f, %f", _goal.target_pose.point.x,
      _goal.target_pose.point.y, _goal.target_pose.point.z);
    RCLCPP_INFO(node_ptr_->get_logger(), "GoTo to speed: %f", _goal.max_speed);
    RCLCPP_INFO(node_ptr_->get_logger(), "GoTo to angle: %f", _goal.yaw.angle);
    return true;
  }

  bool own_modify(as2_msgs::action::GoToWaypoint::Goal & _goal) override
  {
    if (!computeYaw(
        _goal.yaw.mode, _goal.target_pose.point, actual_pose_.pose.position,
        _goal.yaw.angle))
    {
      return false;
    }
    RCLCPP_INFO(node_ptr_->get_logger(), "GoTo goal modified");
    RCLCPP_INFO(
      node_ptr_->get_logger(), "GoTo to position: %f, %f, %f", _goal.target_pose.point.x,
      _goal.target_pose.point.y, _goal.target_pose.point.z);
    RCLCPP_INFO(node_ptr_->get_logger(), "GoTo to speed: %f", _goal.max_speed);
    RCLCPP_INFO(node_ptr_->get_logger(), "GoTo to angle: %f", _goal.yaw.angle);
    return true;
  }

  bool own_deactivate(const std::shared_ptr<std::string> & message) override
  {
    RCLCPP_INFO(node_ptr_->get_logger(), "Goal canceled");
    return true;
  }

  bool own_pause(const std::shared_ptr<std::string> & message) override
  {
    RCLCPP_INFO(node_ptr_->get_logger(), "GoTo paused");
    sendHover();
    return true;
  }

  bool own_resume(const std::shared_ptr<std::string> & message) override
  {
    RCLCPP_INFO(node_ptr_->get_logger(), "GoTo resumed");
    return true;
  }

  void own_execution_end(const as2_behavior::ExecutionStatus & state) override
  {
    RCLCPP_INFO(node_ptr_->get_logger(), "GoTo end");
    if (state == as2_behavior::ExecutionStatus::SUCCESS) {
      // Leave the drone in the last position
      if (position_motion_handler_->sendPositionCommandWithYawAngle(
          "earth", goal_.target_pose.point.x, goal_.target_pose.point.y,
          goal_.target_pose.point.z, goal_.yaw.angle, "earth", goal_.max_speed, goal_.max_speed,
          goal_.max_speed))
      {
        return;
      }
    }
    sendHover();
    return;
  }

  as2_behavior::ExecutionStatus own_run() override
  {
    if (checkGoalCondition()) {
      result_.go_to_success = true;
      RCLCPP_INFO(node_ptr_->get_logger(), "Goal succeeded");
      return as2_behavior::ExecutionStatus::SUCCESS;
    }

    if (!position_motion_handler_->sendPositionCommandWithYawAngle(
        "earth", goal_.target_pose.point.x, goal_.target_pose.point.y,
        goal_.target_pose.point.z, goal_.yaw.angle, "earth", goal_.max_speed, goal_.max_speed,
        goal_.max_speed))
    {
      RCLCPP_ERROR(node_ptr_->get_logger(), "GOTO PLUGIN: Error sending position command");
      result_.go_to_success = false;
      return as2_behavior::ExecutionStatus::FAILURE;
    }

    return as2_behavior::ExecutionStatus::RUNNING;
  }

private:
  bool checkGoalCondition()
  {
    if (localization_flag_) {
      if (fabs(feedback_.actual_distance_to_goal) < params_.go_to_threshold) {return true;}
    }
    return false;
  }

  inline float getActualYaw()
  {
    return as2::frame::getYawFromQuaternion(actual_pose_.pose.orientation);
  }

  bool computeYaw(
    const uint8_t yaw_mode,
    const geometry_msgs::msg::Point & target,
    const geometry_msgs::msg::Point & actual,
    float & yaw)
  {
    switch (yaw_mode) {
      case as2_msgs::msg::YawMode::PATH_FACING: {
          Eigen::Vector2d diff(target.x - actual.x, target.y - actual.y);
          if (diff.norm() < 0.1) {
            RCLCPP_WARN(
              node_ptr_->get_logger(),
              "Goal is too close to the current position in the plane, setting yaw_mode to "
              "KEEP_YAW");
            yaw = getActualYaw();
          } else {
            yaw = as2::frame::getVector2DAngle(diff.x(), diff.y());
          }
        } break;
      case as2_msgs::msg::YawMode::FIXED_YAW:
        RCLCPP_INFO(node_ptr_->get_logger(), "Yaw mode FIXED_YAW");
        break;
      case as2_msgs::msg::YawMode::KEEP_YAW:
        RCLCPP_INFO(node_ptr_->get_logger(), "Yaw mode KEEP_YAW");
        yaw = getActualYaw();
        break;
      case as2_msgs::msg::YawMode::YAW_FROM_TOPIC:
        RCLCPP_INFO(node_ptr_->get_logger(), "Yaw mode YAW_FROM_TOPIC, not supported");
        return false;
        break;
      default:
        RCLCPP_ERROR(node_ptr_->get_logger(), "Yaw mode %d not supported", yaw_mode);
        return false;
        break;
    }
    return true;
  }
};  // Plugin class
}  // namespace go_to_plugin_position

#include <pluginlib/class_list_macros.hpp>

PLUGINLIB_EXPORT_CLASS(go_to_plugin_position::Plugin, go_to_base::GoToBase)