EventSubscriptionInterface.h

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#pragma once
 
#include <functional>
 
#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::client
{
 
    using GlobalTrajectoryUpdatedCallback =
        std::function<void(const global_planning::GlobalPlannerResult&)>;
    using LocalTrajectoryUpdatedCallback =
        std::function<void(const local_planning::LocalPlannerResult&)>;
    using TrajectoryControllerUpdatedCallback =
        std::function<void(const traj_ctrl::local::TrajectoryControllerResult&)>;
    using GlobalPlanningFailedCallback =
        std::function<void(const core::GlobalPlanningFailedEvent&)>;
 
    using LocalPlanningFailedCallback = std::function<void(const core::LocalPlanningFailedEvent&)>;
 
    using OnMovementStartedCallback = std::function<void(const core::MovementStartedEvent&)>;
 
    using OnGoalReachedCallback = std::function<void(const core::GoalReachedEvent&)>;
    using OnWaypointReachedCallback = std::function<void(const core::WaypointReachedEvent&)>;
    using OnSafetyThrottlingTriggeredCallback =
        std::function<void(const core::SafetyThrottlingTriggeredEvent&)>;
    using OnSafetyStopTriggeredCallback =
        std::function<void(const core::SafetyStopTriggeredEvent&)>;
    using OnUserAbortTriggeredCallback = std::function<void(const core::UserAbortTriggeredEvent&)>;
    using OnInternalErrorCallback = std::function<void(const core::InternalErrorEvent&)>;
 
    class EventSubscriptionInterface
    {
 
    public:
        virtual void onMovementStarted(const OnMovementStartedCallback& callback) = 0;
        virtual void onGoalReached(const OnGoalReachedCallback& callback) = 0;
 
        virtual void onWaypointReached(const OnWaypointReachedCallback& callback) = 0;
 
        virtual void
        onSafetyThrottlingTriggered(const OnSafetyThrottlingTriggeredCallback& callback) = 0;
 
        virtual void onSafetyStopTriggered(const OnSafetyStopTriggeredCallback& callback) = 0;
 
        virtual void onUserAbortTriggered(const OnUserAbortTriggeredCallback& callback) = 0;
 
        virtual void onInternalError(const OnInternalErrorCallback& callback) = 0;
 
        virtual void onGlobalPlanningFailed(const GlobalPlanningFailedCallback& callback) = 0;
        virtual void onLocalPlanningFailed(const LocalPlanningFailedCallback& callback) = 0;
 
 
        // Non-API.
        virtual ~EventSubscriptionInterface() = default;
    };
 
} // namespace armarx::navigation::client