route_state_worker.hpp

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#pragma once
 
/*
 * Copyright (C) 2020-2022 LEIDOS.
 *
 * 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.
 */
 
#include <rclcpp/rclcpp.hpp>
#include <stdexcept>
 
namespace route {
 
    class RouteStateWorker {
 
        public:
 
            enum RouteEvent {
                ROUTE_LOADED = 0,
                ROUTE_SELECTED = 1,
                ROUTE_STARTED = 2,
                ROUTE_COMPLETED = 3,
                ROUTE_DEPARTED = 4,
                ROUTE_ABORTED = 5,
                ROUTE_GEN_FAILED = 6,
                ROUTE_INVALIDATION = 7,
            };
 
            enum RouteState {
                LOADING = 0,
                SELECTION = 1,
                ROUTING = 2,
                FOLLOWING = 3,
            };
 
            RouteStateWorker() = default;
 
            void onRouteEvent(RouteEvent event);
 
            RouteState getRouteState() const;
 
            void setLoggerInterface(rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger);
 
        private:
 
            // private local variable tracks the current route satte
            RouteState state_ = RouteState::LOADING;
 
            // Logger interface
            rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logger_;
    };
 
}