Program Listing for File cp_waypoints_navigator.hpp
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// Copyright 2021 RobosoftAI Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
/*****************************************************************************************************************
*
* Authors: Pablo Inigo Blasco, Brett Aldrich
*
******************************************************************************************************************/
#pragma once
#include <nav2z_client/components/waypoints_navigator/cp_waypoints_event_dispatcher.hpp>
#include <nav2z_client/nav2z_client.hpp>
#include <smacc2/smacc.hpp>
#include <geometry_msgs/msg/pose.hpp>
#include <nav2z_client/components/waypoints_navigator/cp_waypoints_navigator_base.hpp>
namespace cl_nav2z
{
class ClNav2Z;
struct EvWaypointFinal : sc::event<EvWaypointFinal>
{
};
struct NavigateNextWaypointOptions
{
std::optional<std::string> controllerName_;
std::optional<std::string> goalCheckerName_;
};
// This component contains a list of waypoints. These waypoints can
// be iterated in the different states using CbNextWaiPoint
// waypoint index is only incremented if the current waypoint is successfully reached
class CpWaypointNavigator : public CpWaypointNavigatorBase
{
public:
ClNav2Z * client_;
CpWaypointNavigator();
void onInitialize() override;
template <typename TOrthogonal, typename TSourceObject>
void onOrthogonalAllocation()
{
waypointsEventDispatcher.initialize<TSourceObject, TOrthogonal>(client_);
}
std::optional<std::shared_future<
std::shared_ptr<rclcpp_action::ClientGoalHandle<nav2_msgs::action::NavigateToPose> > > >
sendNextGoal(
std::optional<NavigateNextWaypointOptions> options = std::nullopt,
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::WeakPtr callback =
cl_nav2z::ClNav2Z::SmaccNavigateResultSignal::WeakPtr());
void stopWaitingResult();
smacc2::SmaccSignal<void()> onNavigationRequestSucceded;
smacc2::SmaccSignal<void()> onNavigationRequestAborted;
smacc2::SmaccSignal<void()> onNavigationRequestCancelled;
private:
void onNavigationResult(const ClNav2Z::WrappedResult & r);
void onGoalReached(const ClNav2Z::WrappedResult & res);
void onGoalCancelled(const ClNav2Z::WrappedResult & /*res*/);
void onGoalAborted(const ClNav2Z::WrappedResult & /*res*/);
boost::signals2::connection succeddedNav2ZClientConnection_;
boost::signals2::connection abortedNav2ZClientConnection_;
boost::signals2::connection cancelledNav2ZClientConnection_;
};
} // namespace cl_nav2z