WaypointFollowingState.h

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#ifndef WAYPOINTFOLLOWINGSTATE_H
#define WAYPOINTFOLLOWINGSTATE_H

#include <rsm_msgs/WaypointArray.h>
#include <rsm_msgs/GetWaypoints.h>
#include <rsm_msgs/SetWaypointFollowingMode.h>
#include <rsm_msgs/WaypointVisited.h>
#include <std_srvs/Trigger.h>
#include <rsm_msgs/SetNavigationGoal.h>
#include <rsm_core/BaseState.h>
#include <rsm_core/EmergencyStopState.h>
#include <rsm_core/IdleState.h>
#include <rsm_core/StateInterface.h>
#include <rsm_core/TeleoperationState.h>

namespace rsm {

class WaypointFollowingState: public BaseState {

public:

        WaypointFollowingState();

        ~WaypointFollowingState();

        void onSetup();

        void onEntry();

        void onActive();

        void onExit();

        void onExplorationStart(bool &success, std::string &message);

        void onExplorationStop(bool &success, std::string &message);

        void onWaypointFollowingStart(bool &success, std::string &message);

        void onWaypointFollowingStop(bool &success, std::string &message);

        void onInterrupt(int interrupt);

private:
        ros::ServiceClient _get_waypoints_service;
        ros::ServiceClient _set_waypoint_following_mode_service;
        ros::ServiceClient _reset_waypoints_service;
        ros::ServiceClient _set_navigation_goal_service;
        ros::ServiceClient _waypoint_visited_service;

        rsm_msgs::WaypointArray _waypoint_array;
        int _next_waypoint_position;

        void resetWaypoints();
        void abortWaypointFollowing();
        void getWaypoints();
        void setCurrentWaypointVisited();
};

}

#endif