Program Listing for File takeoff_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.
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// * Redistributions in binary form must reproduce the above copyright
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// 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"
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// 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 "takeoff_behavior/takeoff_base.hpp"
namespace takeoff_plugin_platform
{
class Plugin : public takeoff_base::TakeoffBase
{
public:
void ownInit()
{
platform_takeoff_cli_ =
node_ptr_->create_client<std_srvs::srv::SetBool>(as2_names::services::platform::takeoff);
platform_takeoff_request_ = std::make_shared<std_srvs::srv::SetBool::Request>();
platform_takeoff_request_->data = true;
return;
}
bool own_activate(as2_msgs::action::Takeoff::Goal & _goal) override
{
if (!platform_takeoff_cli_->wait_for_service(std::chrono::seconds(5))) {
RCLCPP_ERROR(node_ptr_->get_logger(), "Platform takeoff service not available");
return false;
}
platform_takeoff_future_ =
platform_takeoff_cli_->async_send_request(platform_takeoff_request_).share();
if (!platform_takeoff_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(), "Takeoff can not be cancelled");
return false;
}
void own_execution_end(const as2_behavior::ExecutionStatus & state) override
{
RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff end");
return;
}
as2_behavior::ExecutionStatus own_run() override
{
if (platform_takeoff_future_.valid() &&
platform_takeoff_future_.wait_for(std::chrono::seconds(0)) == std::future_status::ready)
{
auto result = platform_takeoff_future_.get();
if (result->success) {
result_.takeoff_success = true;
return as2_behavior::ExecutionStatus::SUCCESS;
} else {
result_.takeoff_success = false;
return as2_behavior::ExecutionStatus::FAILURE;
}
}
return as2_behavior::ExecutionStatus::RUNNING;
}
private:
rclcpp::Client<std_srvs::srv::SetBool>::SharedPtr platform_takeoff_cli_;
std_srvs::srv::SetBool::Request::SharedPtr platform_takeoff_request_;
rclcpp::Client<std_srvs::srv::SetBool>::SharedFuture platform_takeoff_future_;
}; // Plugin class
} // namespace takeoff_plugin_platform
#include <pluginlib/class_list_macros.hpp>
PLUGINLIB_EXPORT_CLASS(takeoff_plugin_platform::Plugin, takeoff_base::TakeoffBase)