px4_ros2::HealthAndArmingChecks Class Reference

Public Types
using	CheckCallback = std::function< void(HealthAndArmingCheckReporter &)>
using	WatchdogTimeoutCallback = std::function< void()>

Public Member Functions
	HealthAndArmingChecks (rclcpp::Node &node, CheckCallback check_callback, const std::string &topic_namespace_prefix="")
	HealthAndArmingChecks (const HealthAndArmingChecks &)=delete
bool	doRegister (const std::string &name)
void	setModeRequirements (const RequirementFlags &mode_requirements)
RequirementFlags &	modeRequirements ()
void	disableWatchdogTimer ()
void	setWatchdogTimeoutCallback (WatchdogTimeoutCallback callback)

Friends
class	ModeBase
class	ModeExecutorBase

Member Function Documentation

doRegister()

bool px4_ros2::HealthAndArmingChecks::doRegister

(

const std::string &

name

)

Register the checks. Call this once on startup. This is a blocking method.

Parameters

name	registration name. Should uniquely identify the component with length < 25 characters

Returns

true on success

setWatchdogTimeoutCallback()

void px4_ros2::HealthAndArmingChecks::setWatchdogTimeoutCallback

(

WatchdogTimeoutCallback

callback

)

Install a callback that is invoked instead of shutting down the ROS context and throwing when the FMU watchdog times out. The watchdog timer is cancelled before the callback is invoked. The callback should schedule re-creation of the health checks or mode object after the current timer callback returns; the new object will resume watchdog monitoring.

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

• px4_ros2_cpp/include/px4_ros2/components/health_and_arming_checks.hpp