MemoryPublisher.cpp

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#include <string>
 
#include <armarx/navigation/core/events.h>
#include <armarx/navigation/memory/client/events/Writer.h>
#include <armarx/navigation/memory/client/stack_result/Writer.h>
#include <armarx/navigation/server/event_publishing/MemoryPublisher.h>
 
namespace armarx::navigation::server
{
 
    void
    MemoryPublisher::goalReached(const core::GoalReachedEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    void
    MemoryPublisher::waypointReached(const core::WaypointReachedEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    void
    MemoryPublisher::safetyThrottlingTriggered(const core::SafetyThrottlingTriggeredEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    void
    MemoryPublisher::safetyStopTriggered(const core::SafetyStopTriggeredEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    void
    MemoryPublisher::userAbortTriggered(const core::UserAbortTriggeredEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    void
    MemoryPublisher::internalError(const core::InternalErrorEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    void
    MemoryPublisher::globalTrajectoryUpdated(const core::GlobalTrajectoryUpdatedEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    void
    MemoryPublisher::localTrajectoryUpdated(const core::LocalTrajectoryUpdatedEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    // void
    // MemoryPublisher::globalTrajectoryUpdated(const global_planning::GlobalPlannerResult& res)
    // {
    //     resultWriter->store(res, clientId);
    // }
 
    // void
    // MemoryPublisher::localTrajectoryUpdated(const local_planning::LocalPlannerResult& res)
    // {
    //     resultWriter->store(res, clientId);
    // }
 
    // void
    // MemoryPublisher::trajectoryControllerUpdated(
    //     const traj_ctrl::local::TrajectoryControllerResult& res)
    // {
    //     resultWriter->store(res, clientId);
    // }
 
    // TODO(fabian.reister): event with message or reason (enum)
    void
    MemoryPublisher::globalPlanningFailed(const core::GlobalPlanningFailedEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    void
    MemoryPublisher::localPlanningFailed(const core::LocalPlanningFailedEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    void
    MemoryPublisher::movementStarted(const core::MovementStartedEvent& event)
    {
        eventsWriter->store(event, clientId);
    }
 
    MemoryPublisher::MemoryPublisher(
        armarx::navigation::memory::client::stack_result::Writer* resultWriter,
        armarx::navigation::memory::client::events::Writer* eventsWriter,
        const std::string& clientId) :
        resultWriter(resultWriter), eventsWriter(eventsWriter), clientId(clientId)
    {
    }
 
} // namespace armarx::navigation::server