Program Listing for File land_plugin_platform.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 <chrono>
#include <std_srvs/srv/set_bool.hpp>

#include "as2_behavior/behavior_server.hpp"
#include "as2_core/names/services.hpp"
#include "land_behavior/land_base.hpp"

namespace land_plugin_platform
{

class Plugin : public land_base::LandBase
{
public:
  void ownInit()
  {
    platform_land_cli_ =
      node_ptr_->create_client<std_srvs::srv::SetBool>(as2_names::services::platform::land);
    platform_land_request_ = std::make_shared<std_srvs::srv::SetBool::Request>();
    platform_land_request_->data = true;
    return;
  }

  bool own_activate(as2_msgs::action::Land::Goal & _goal) override
  {
    if (!platform_land_cli_->wait_for_service(std::chrono::seconds(5))) {
      RCLCPP_ERROR(node_ptr_->get_logger(), "Platform land service not available");
      return false;
    }

    platform_land_future_ = platform_land_cli_->async_send_request(platform_land_request_).share();

    if (!platform_land_future_.valid()) {
      RCLCPP_ERROR(node_ptr_->get_logger(), "Request could not be sent");
      return false;
    }
    return true;
  }

  bool own_deactivate(const std::shared_ptr<std::string> & message) override
  {
    RCLCPP_INFO(node_ptr_->get_logger(), "Land can not be cancelled");
    return false;
  }

  void own_execution_end(const as2_behavior::ExecutionStatus & state) override
  {
    RCLCPP_INFO(node_ptr_->get_logger(), "Land end");
    if (state != as2_behavior::ExecutionStatus::SUCCESS) {
      sendHover();
    }
    return;
  }

  as2_behavior::ExecutionStatus own_run() override
  {
    if (platform_land_future_.valid() &&
      platform_land_future_.wait_for(std::chrono::seconds(0)) == std::future_status::ready)
    {
      auto result = platform_land_future_.get();
      if (result->success) {
        result_.land_success = true;
        return as2_behavior::ExecutionStatus::SUCCESS;
      } else {
        result_.land_success = false;
        return as2_behavior::ExecutionStatus::FAILURE;
      }
    }
    return as2_behavior::ExecutionStatus::RUNNING;
  }

private:
  rclcpp::Client<std_srvs::srv::SetBool>::SharedPtr platform_land_cli_;
  std_srvs::srv::SetBool::Request::SharedPtr platform_land_request_;
  rclcpp::Client<std_srvs::srv::SetBool>::SharedFuture platform_land_future_;
};  // Plugin class
}  // namespace land_plugin_platform

#include <pluginlib/class_list_macros.hpp>

PLUGINLIB_EXPORT_CLASS(land_plugin_platform::Plugin, land_base::LandBase)