Program Listing for File takeoff_behavior.hpp

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// Copyright 2024 Universidad Politécnica de Madrid
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#ifndef TAKEOFF_BEHAVIOR__TAKEOFF_BEHAVIOR_HPP_
#define TAKEOFF_BEHAVIOR__TAKEOFF_BEHAVIOR_HPP_

#include <memory>
#include <string>
#include <geometry_msgs/msg/pose_stamped.hpp>
#include <geometry_msgs/msg/twist_stamped.hpp>
#include <pluginlib/class_loader.hpp>
#include <rclcpp_action/rclcpp_action.hpp>

#include "as2_behavior/behavior_server.hpp"
#include "as2_core/names/actions.hpp"
#include "as2_core/names/services.hpp"
#include "as2_core/names/topics.hpp"
#include "as2_core/synchronous_service_client.hpp"
#include "as2_core/utils/tf_utils.hpp"
#include "as2_msgs/action/takeoff.hpp"
#include "as2_msgs/msg/platform_info.hpp"
#include "as2_msgs/srv/set_platform_state_machine_event.hpp"
#include "takeoff_base.hpp"


class TakeoffBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::Takeoff>
{
public:
  using GoalHandleTakeoff = rclcpp_action::ServerGoalHandle<as2_msgs::action::Takeoff>;
  using PSME = as2_msgs::msg::PlatformStateMachineEvent;

  explicit TakeoffBehavior(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  ~TakeoffBehavior();

  void state_callback(const geometry_msgs::msg::TwistStamped::SharedPtr _twist_msg);

  bool sendEventFSME(const int8_t _event);

  bool process_goal(
    std::shared_ptr<const as2_msgs::action::Takeoff::Goal> goal,
    as2_msgs::action::Takeoff::Goal & new_goal);

  bool on_activate(std::shared_ptr<const as2_msgs::action::Takeoff::Goal> goal) override;
  bool on_modify(std::shared_ptr<const as2_msgs::action::Takeoff::Goal> goal) override;
  bool on_deactivate(const std::shared_ptr<std::string> & message) override;
  bool on_pause(const std::shared_ptr<std::string> & message) override;
  bool on_resume(const std::shared_ptr<std::string> & message) override;
  as2_behavior::ExecutionStatus on_run(
    const std::shared_ptr<const as2_msgs::action::Takeoff::Goal> & goal,
    std::shared_ptr<as2_msgs::action::Takeoff::Feedback> & feedback_msg,
    std::shared_ptr<as2_msgs::action::Takeoff::Result> & result_msg) override;
  void on_execution_end(const as2_behavior::ExecutionStatus & state) override;

private:
  std::string base_link_frame_id_;
  std::shared_ptr<pluginlib::ClassLoader<takeoff_base::TakeoffBase>> loader_;
  std::shared_ptr<takeoff_base::TakeoffBase> takeoff_plugin_;
  std::shared_ptr<as2::tf::TfHandler> tf_handler_;
  std::chrono::nanoseconds tf_timeout;
  rclcpp::Subscription<geometry_msgs::msg::TwistStamped>::SharedPtr twist_sub_;
  as2::SynchronousServiceClient<as2_msgs::srv::SetPlatformStateMachineEvent>::SharedPtr
    platform_cli_;
};

#endif  // TAKEOFF_BEHAVIOR__TAKEOFF_BEHAVIOR_HPP_