FakeNavigation.h

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/*
 * SPDX-FileCopyrightText: 2006-2021 Istituto Italiano di Tecnologia (IIT)
 * SPDX-License-Identifier: LGPL-2.1-or-later
 */
 
#include <yarp/os/Network.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Time.h>
#include <yarp/os/Port.h>
#include <yarp/dev/INavigation2D.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/dev/Map2DPath.h>
#include <math.h>
 
#include "FakeNavigation_ParamsParser.h"
 
class FakeNavigation :
        public yarp::dev::DeviceDriver,
        public yarp::dev::Nav2D::INavigation2DTargetActions,
        public yarp::dev::Nav2D::INavigation2DControlActions,
        public yarp::dev::Nav2D::INavigation2DVelocityActions,
        public yarp::os::PeriodicThread,
        public FakeNavigation_ParamsParser
{
private:
    yarp::dev::Nav2D::NavigationStatusEnum m_status = yarp::dev::Nav2D::NavigationStatusEnum::navigation_status_idle;
    yarp::dev::Nav2D::Map2DLocation m_absgoal_loc;
    struct control_type
    {
        double linear_xvel = 0;
        double linear_yvel = 0;
        double angular_vel = 0;
        double timeout = 0;
        double reception_time = 0;
    }
    m_control_out;
 
    int m_time_counter= 0;
 
public:
    virtual bool open(yarp::os::Searchable& config) override;
 
    FakeNavigation();
 
    //module cleanup
    virtual bool close() override;
 
public:
    //methods inherited from INavigation2Dxxx interfaces
    yarp::dev::ReturnValue gotoTargetByAbsoluteLocation(yarp::dev::Nav2D::Map2DLocation loc) override;
    yarp::dev::ReturnValue gotoTargetByRelativeLocation(double x, double y, double theta) override;
    yarp::dev::ReturnValue gotoTargetByRelativeLocation(double x, double y) override;
    yarp::dev::ReturnValue followPath(const yarp::dev::Nav2D::Map2DPath& path) override;
    yarp::dev::ReturnValue getAbsoluteLocationOfCurrentTarget(yarp::dev::Nav2D::Map2DLocation& target) override;
    yarp::dev::ReturnValue getRelativeLocationOfCurrentTarget(double& x, double& y, double& theta) override;
    yarp::dev::ReturnValue getNavigationStatus(yarp::dev::Nav2D::NavigationStatusEnum& status) override;
    yarp::dev::ReturnValue stopNavigation() override;
    yarp::dev::ReturnValue suspendNavigation(double time) override;
    yarp::dev::ReturnValue resumeNavigation() override;
    yarp::dev::ReturnValue getAllNavigationWaypoints(yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath& waypoints) override;
    yarp::dev::ReturnValue getCurrentNavigationWaypoint(yarp::dev::Nav2D::Map2DLocation& curr_waypoint) override;
    yarp::dev::ReturnValue getCurrentNavigationMap(yarp::dev::Nav2D::NavigationMapTypeEnum map_type, yarp::dev::Nav2D::MapGrid2D& map) override;
    yarp::dev::ReturnValue recomputeCurrentNavigationPath() override;
    yarp::dev::ReturnValue applyVelocityCommand(double x_vel, double y_vel, double theta_vel, double timeout = 0.1) override;
    yarp::dev::ReturnValue getLastVelocityCommand(double& x_vel, double& y_vel, double& theta_vel) override;
 
    bool threadInit() override;
    void threadRelease() override;
    void run() override;
};