Program Listing for File takeoff_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
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// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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#include <geometry_msgs/msg/point.hpp>

#include "as2_behavior/behavior_server.hpp"
#include "as2_core/utils/frame_utils.hpp"
#include "as2_motion_reference_handlers/position_motion.hpp"
#include "takeoff_behavior/takeoff_base.hpp"

namespace takeoff_plugin_position
{

class Plugin : public takeoff_base::TakeoffBase
{
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::Takeoff::Goal & _goal) override
  {
    RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff accepted");
    takeoff_position_.x = actual_pose_.pose.position.x;
    takeoff_position_.y = actual_pose_.pose.position.y;
    takeoff_position_.z = actual_pose_.pose.position.z + _goal.takeoff_height;
    takeoff_angle_ = as2::frame::getYawFromQuaternion(actual_pose_.pose.orientation);
    RCLCPP_INFO(
      node_ptr_->get_logger(), "Takeoff to position: %f, %f, %f", takeoff_position_.x,
      takeoff_position_.y, takeoff_position_.z);
    RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff with angle: %f", takeoff_angle_);
    RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff with speed: %f", _goal.takeoff_speed);
    return true;
  }

  bool own_modify(as2_msgs::action::Takeoff::Goal & _goal) override
  {
    RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff accepted");
    takeoff_position_.x = actual_pose_.pose.position.x;
    takeoff_position_.y = actual_pose_.pose.position.y;
    takeoff_position_.z = actual_pose_.pose.position.z + _goal.takeoff_height;
    takeoff_angle_ = as2::frame::getYawFromQuaternion(actual_pose_.pose.orientation);
    RCLCPP_INFO(
      node_ptr_->get_logger(), "Takeoff to position: %f, %f, %f", takeoff_position_.x,
      takeoff_position_.y, takeoff_position_.z);
    RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff with angle: %f", takeoff_angle_);
    RCLCPP_INFO(node_ptr_->get_logger(), "Takeoff with speed: %f", _goal.takeoff_speed);
    return true;
  }

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

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

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

    if (!position_motion_handler_->sendPositionCommandWithYawAngle(
        "earth", takeoff_position_.x, takeoff_position_.y, takeoff_position_.z, takeoff_angle_,
        "earth", goal_.takeoff_speed, goal_.takeoff_speed, goal_.takeoff_speed))
    {
      RCLCPP_ERROR(node_ptr_->get_logger(), "Take Off PLUGIN: Error sending speed command");
      result_.takeoff_success = false;
      return as2_behavior::ExecutionStatus::FAILURE;
    }
    return as2_behavior::ExecutionStatus::RUNNING;
  }

private:
  geometry_msgs::msg::Point takeoff_position_;
  double takeoff_angle_;

  bool checkGoalCondition()
  {
    if (localization_flag_) {
      if (fabs(goal_.takeoff_height - feedback_.actual_takeoff_height) <
        params_.takeoff_threshold)
      {
        return true;
      }
    }
    return false;
  }
};  // Plugin class
}  // namespace takeoff_plugin_position

#include <pluginlib/class_list_macros.hpp>

PLUGINLIB_EXPORT_CLASS(takeoff_plugin_position::Plugin, takeoff_base::TakeoffBase)