EventPublishingInterface.h

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#pragma once
 
 
#include <armarx/navigation/core/events.h>
#include <armarx/navigation/global_planning/GlobalPlanner.h>
#include <armarx/navigation/local_planning/LocalPlanner.h>
#include <armarx/navigation/trajectory_control/local/TrajectoryController.h>
 
 
namespace armarx::navigation::server
{
 
    /**
     * @brief A publisher the server navigator will use to notify others about events.
     */
    class EventPublishingInterface
    {
 
    public:
        // TODO(fabian.reister): fwd
        virtual void globalTrajectoryUpdated(const global_planning::GlobalPlannerResult& res) = 0;
        virtual void localTrajectoryUpdated(const local_planning::LocalPlannerResult& res) = 0;
        // virtual void
        // trajectoryControllerUpdated(const traj_ctrl::local::TrajectoryControllerResult& res) = 0;
 
        virtual void globalPlanningFailed(const core::GlobalPlanningFailedEvent& event) = 0;
        virtual void localPlanningFailed(const core::LocalPlanningFailedEvent& event) = 0;
 
 
        virtual void movementStarted(const core::MovementStartedEvent& event) = 0;
 
 
        /**
         * @brief Will be called whenever the navigator reached the goal.
         */
        virtual void goalReached(const core::GoalReachedEvent& event) = 0;
 
        /**
         * @brief Will be called whenever the navigator reached a user-defined waypoint.
         */
        virtual void waypointReached(const core::WaypointReachedEvent& event) = 0;
 
        /**
         * @brief Will be called whenever safety throttling is triggered to a certain degree (configurable).
         */
        virtual void
        safetyThrottlingTriggered(const core::SafetyThrottlingTriggeredEvent& event) = 0;
 
        /**
         * @brief Will be called whenever a safety stop is triggered.
         */
        virtual void safetyStopTriggered(const core::SafetyStopTriggeredEvent& event) = 0;
 
        /**
         * @brief Will be called whenever the user aborts the current navigation.
         */
        virtual void userAbortTriggered(const core::UserAbortTriggeredEvent& event) = 0;
 
        /**
         * @brief Will be called whenever an internal error occurs.
         */
        virtual void internalError(const core::InternalErrorEvent& event) = 0;
 
        // Non-API.
    public:
        virtual ~EventPublishingInterface() = default;
    };
 
} // namespace armarx::navigation::server