Program Listing for File land_plugin_speed.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
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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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_behavior/behavior_server.hpp"
#include "as2_motion_reference_handlers/speed_motion.hpp"
#include "land_behavior/land_base.hpp"

namespace land_plugin_speed
{

class Plugin : public land_base::LandBase
{
private:
  std::shared_ptr<as2::motionReferenceHandlers::SpeedMotion> speed_motion_handler_ = nullptr;

public:
  void ownInit()
  {
    speed_motion_handler_ = std::make_shared<as2::motionReferenceHandlers::SpeedMotion>(node_ptr_);

    node_ptr_->declare_parameter<double>("land_speed_condition_percentage");
    node_ptr_->get_parameter("land_speed_condition_percentage", land_speed_condition_percentage_);
    node_ptr_->declare_parameter<double>("land_speed_condition_height");
    node_ptr_->get_parameter("land_speed_condition_height", land_speed_condition_height_);
  }

  bool own_activate(as2_msgs::action::Land::Goal & _goal) override
  {
    RCLCPP_INFO(node_ptr_->get_logger(), "Land accepted");
    RCLCPP_INFO(node_ptr_->get_logger(), "Land with speed: %f", _goal.land_speed);
    time_ = node_ptr_->now();

    speed_condition_ = _goal.land_speed * land_speed_condition_percentage_;

    initial_height_ = actual_pose_.pose.position.z;
    return true;
  }

  bool own_modify(as2_msgs::action::Land::Goal & _goal) override
  {
    RCLCPP_INFO(node_ptr_->get_logger(), "Land goal modified");
    RCLCPP_INFO(node_ptr_->get_logger(), "Land with speed: %f", _goal.land_speed);
    time_ = node_ptr_->now();
    return true;
  }

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

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

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

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

    if (!speed_motion_handler_->sendSpeedCommandWithYawSpeed(
        "earth", 0.0, 0.0, goal_.land_speed,
        0.0))
    {
      RCLCPP_ERROR(node_ptr_->get_logger(), "LAND PLUGIN: Error sending speed command");
      result_.land_success = false;
      return as2_behavior::ExecutionStatus::FAILURE;
    }

    return as2_behavior::ExecutionStatus::RUNNING;
  }

private:
  rclcpp::Time time_;
  double land_speed_condition_percentage_;
  double land_speed_condition_height_;
  float speed_condition_;
  int time_condition_ = 1;
  float initial_height_;

  bool checkGoalCondition()
  {
    if (initial_height_ - actual_pose_.pose.position.z > land_speed_condition_height_ &&
      fabs(feedback_.actual_land_speed) < fabs(speed_condition_))
    {
      if ((node_ptr_->now() - this->time_).seconds() > time_condition_) {
        return true;
      }
    } else {
      time_ = node_ptr_->now();
    }
    return false;
  }
};  // Plugin class
}  // namespace land_plugin_speed

#include <pluginlib/class_list_macros.hpp>

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