px4_ros2::ActionHandler Class Reference

Handler passed to custom actions to run modes, actions and trajectories. More...

#include <px4_ros2/mission/mission_executor.hpp>

Public Member Functions
	ActionHandler (MissionExecutor &mission_executor)
void	runMode (ModeBase::ModeID mode_id, const std::function< void()> &on_completed, const std::function< void()> &on_failure=nullptr)
void	runModeTakeoff (float altitude, float heading, const std::function< void()> &on_completed, const std::function< void()> &on_failure=nullptr)
	Trigger a takeoff. More...
void	runAction (const std::string &action_name, const ActionArguments &arguments, const std::function< void()> &on_completed)
void	runTrajectory (const std::shared_ptr< Mission > &trajectory, const std::function< void()> &on_completed, bool stop_at_last_item=true)
TrajectoryOptions	getTrajectoryOptions () const
	get the current trajectory config options
void	clearTrajectoryOptions ()
	Reset the current trajectory config options to the mission defaults.
void	setTrajectoryOptions (const TrajectoryOptions &options)
	Override the trajectory config options. More...
void	setActvityInfo (const std::string &activity_info)
	Sets the activity info for the mission executor. This method forwards the provided activity string to the underlying mission executor, making it externally accessible. This string provides a concise description of the current action. More...
void	clearActivityInfo ()
	Clears the activity information. This method sets the activity info of the mission executor to std::nullopt. It gets called when we switch to the next waypoint, mission deactivated or aborted .
std::optional< int >	getCurrentMissionIndex () const
void	setCurrentMissionIndex (int index)
	Set the current mission index. More...
bool	currentActionSupportsResumeFromLanded () const
std::unique_ptr< ActionStateKeeper >	storeState (const std::string &action_name, const ActionArguments &arguments)
	store the state of a continuous action More...
const Mission &	mission () const
bool	deferFailsafes (bool enabled, int timeout_s=0)
	enable/disable deferral of failsafes More...
bool	controlAutoSetHome (bool enabled)
void	onFailsafeDeferred (const std::function< void()> &callback)
	register callback for failsafe notification More...
bool	isValid () const
	Check if the handler is still valid. More...

Friends
class	MissionExecutor

Detailed Description

Handler passed to custom actions to run modes, actions and trajectories.

Member Function Documentation

deferFailsafes()

bool px4_ros2::ActionHandler::deferFailsafes ( bool  enabled, int  timeout_s = 0  )

inline

enable/disable deferral of failsafes

Parameters

enabled
timeout_s	0=system default, -1=no timeout

Returns

true on success

isValid()

bool px4_ros2::ActionHandler::isValid ( ) const

inline

Check if the handler is still valid.

If the handler is invalid, it cannot be used anymore. It will be set invalid when the mission is aborted, or deactivated. This is useful for actions that use timers to run actions.

onFailsafeDeferred()

void px4_ros2::ActionHandler::onFailsafeDeferred ( const std::function< void()> &  callback )

inline

register callback for failsafe notification

The callback is triggerd when a failsafe occurs while deferral is enabled.

runModeTakeoff()

void px4_ros2::ActionHandler::runModeTakeoff ( float  altitude, float  heading, const std::function< void()> &  on_completed, const std::function< void()> &  on_failure = nullptr  )

inline

Trigger a takeoff.

Parameters

altitude	optional altitude AMSL [m], set to NAN to use the vehicle default
heading	optional heading [rad] from North, set to NAN to use the current heading
on_completed	callback to execute when the takeoff is completed
on_failure	optional callback to execute when the takeoff fails (if not set, abort is called instead)

setActvityInfo()

void px4_ros2::ActionHandler::setActvityInfo ( const std::string &  activity_info )

inline

Sets the activity info for the mission executor. This method forwards the provided activity string to the underlying mission executor, making it externally accessible. This string provides a concise description of the current action.

Parameters

activity_info

The string describing the current action.

setCurrentMissionIndex()

void px4_ros2::ActionHandler::setCurrentMissionIndex

(

int

index

)

Set the current mission index.

This is primarily for the onResume action, in case the mission should be resumed at a different index.

When called as part of another action, the index will still be increased, and thus continue at the next item.

setTrajectoryOptions()

void px4_ros2::ActionHandler::setTrajectoryOptions ( const TrajectoryOptions &  options )

inline

Override the trajectory config options.

The values that are not set will be kept as they were before

storeState()

std::unique_ptr<ActionStateKeeper> px4_ros2::ActionHandler::storeState ( const std::string &  action_name, const ActionArguments &  arguments  )

inline

store the state of a continuous action

This is used to restore the state when the mission is interrupted (e.g. by the user or a failsafe) and continued later on. When restoring, the action will be called with the provided arguments.

This can be used for example, for a camera trigger command that continuous to run in the background.

Parameters

action_name	Name of the calling action
arguments	Arguments to the action for restoring the action

Returns

A token that should be stored. It can be deleted when the action stops or gets deactivated

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The documentation for this class was generated from the following file:

• px4_ros2_cpp/include/px4_ros2/mission/mission_executor.hpp