cb_obstacle_guard.hpp

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// Copyright 2026 RobosoftAI 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: Brett Aldrich
 *
 ******************************************************************************************************************/
 
#pragma once
 
#include <functional>
 
#include <cl_px4_mr/components/cp_forward_obstacle_guard.hpp>
#include <smacc2/smacc_client_behavior.hpp>
 
namespace cl_px4_mr
{
 
// Turns CpForwardObstacleGuard's signals into state machine events
// EvObstacleTooClose / EvObstacleCleared<CbObstacleGuard, TOrthogonal>.
// Synchronous behavior: onEntry runs on the state machine thread, so it may
// resolve the component and create signal connections there. Configure it
// once on a container state (e.g. the in-flight mode state) so a single
// instance covers every inner flight state.
class CbObstacleGuard : public smacc2::SmaccClientBehavior
{
public:
  CbObstacleGuard();
  virtual ~CbObstacleGuard();
 
  template <typename TOrthogonal, typename TSourceObject>
  void onStateOrthogonalAllocation()
  {
    postTooClose_ = [this]() { this->postEvent<EvObstacleTooClose<TSourceObject, TOrthogonal>>(); };
    postCleared_ = [this]() { this->postEvent<EvObstacleCleared<TSourceObject, TOrthogonal>>(); };
  }
 
  void onEntry() override;
  void onExit() override;
 
private:
  void onTooClose();
  void onCleared();
 
  CpForwardObstacleGuard * guard_ = nullptr;
  std::function<void()> postTooClose_;
  std::function<void()> postCleared_;
};
 
}  // namespace cl_px4_mr