Program Listing for File cb_load_waypoints_file.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_navigator_base.hpp>
#include <smacc2/smacc_client_behavior.hpp>

namespace sm_dancebot_artgallery_ue
{
struct CbLoadWaypointsFile : public smacc2::SmaccClientBehavior
{
public:
  CbLoadWaypointsFile(std::string filepath) : filepath_(filepath) {}

  CbLoadWaypointsFile(std::string parameter_name, std::string packagenamesapce)
  :
    parameterName_(parameter_name),
    packageNamespace_(packagenamesapce)
  {
  }

  void onEntry() override
  {
    requiresComponent(waypointsNavigator_);  // this is a component from the nav2z_client library

    if (filepath_)
    {
      this->waypointsNavigator_->loadWayPointsFromFile(filepath_.value());
    }
    else
    {
      RCLCPP_INFO(
        getLogger(), "Loading waypoints from parameter %s", parameterName_.value().c_str());
      this->waypointsNavigator_->loadWaypointsFromYamlParameter(
        parameterName_.value(), packageNamespace_.value());
    }

    // change this to skip some points of the yaml file, default = 0
    waypointsNavigator_->currentWaypoint_ = 0;
  }

  void onExit() override {}

  std::optional<std::string> filepath_;

  std::optional<std::string> parameterName_;
  std::optional<std::string> packageNamespace_;

  cl_nav2z::CpWaypointNavigatorBase * waypointsNavigator_;
};
}  // namespace sm_dancebot_artgallery_ue