MemoryPublisher.h

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#pragma once
 
#include <armarx/navigation/memory/client/events/Writer.h>
#include <armarx/navigation/memory/client/stack_result/Writer.h>
#include <armarx/navigation/server/event_publishing/EventPublishingInterface.h>
 
 
namespace armarx::navigation::server
{
 
    class MemoryPublisher : virtual public EventPublishingInterface
    {
 
    public:
        MemoryPublisher(armarx::navigation::memory::client::stack_result::Writer* resultWriter,
                        armarx::navigation::memory::client::events::Writer* eventsWriter,
                        const std::string& clientId);
 
        void globalTrajectoryUpdated(const global_planning::GlobalPlannerResult& res) override;
        void localTrajectoryUpdated(const local_planning::LocalPlannerResult& res) override;
        // void trajectoryControllerUpdated(
        //     const traj_ctrl::local::TrajectoryControllerResult& res) override;
 
        void globalPlanningFailed(const core::GlobalPlanningFailedEvent& event) override;
        void localPlanningFailed(const core::LocalPlanningFailedEvent& event) override;
 
 
        void movementStarted(const core::MovementStartedEvent& event) override;
        void goalReached(const core::GoalReachedEvent& event) override;
 
        void waypointReached(const core::WaypointReachedEvent& event) override;
 
        void safetyThrottlingTriggered(const core::SafetyThrottlingTriggeredEvent& event) override;
 
        void safetyStopTriggered(const core::SafetyStopTriggeredEvent& event) override;
 
        void userAbortTriggered(const core::UserAbortTriggeredEvent& event) override;
 
        void internalError(const core::InternalErrorEvent& event) override;
 
        // Non-API.
        ~MemoryPublisher() override = default;
 
    private:
        armarx::navigation::memory::client::stack_result::Writer* resultWriter;
        armarx::navigation::memory::client::events::Writer* eventsWriter;
 
        const std::string clientId;
    };
 
} // namespace armarx::navigation::server