cb_nav2z_client_behavior_base.cpp

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// Copyright 2025 Robosoft Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
/*****************************************************************************************************************
 *
 *   Authors: Pablo Inigo Blasco, Brett Aldrich
 *
 ******************************************************************************************************************/
 
#include <cl_nav2z/client_behaviors/cb_nav2z_client_behavior_base.hpp>
#include <cl_nav2z/common.hpp>
 
namespace cl_nav2z
{
CbNav2ZClientBehaviorBase::~CbNav2ZClientBehaviorBase() {}
 
void CbNav2ZClientBehaviorBase::onActionSuccess(const WrappedResult & r)
{
  navigationResult_ = r.code;
  actionResult_ = r.code;
  this->onNavigationActionSuccess(r);
}
 
void CbNav2ZClientBehaviorBase::onActionAbort(const WrappedResult & r)
{
  navigationResult_ = r.code;
  actionResult_ = r.code;
  this->onNavigationActionAbort(r);
}
 
void CbNav2ZClientBehaviorBase::onNavigationActionSuccess(
  const components::CpNav2ActionInterface::WrappedResult &)
{
  RCLCPP_INFO(getLogger(), "[%s] Propagating success event from action server", getName().c_str());
  this->postSuccessEvent();
}
 
void CbNav2ZClientBehaviorBase::onNavigationActionAbort(
  const components::CpNav2ActionInterface::WrappedResult &)
{
  RCLCPP_INFO(getLogger(), "[%s] Propagating failure event from action server", getName().c_str());
  this->postFailureEvent();
}
 
}  // namespace cl_nav2z