cb_pause_object_tracking.hpp

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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
 *
 ******************************************************************************************************************/
#pragma once
 
#include <smacc2/smacc.hpp>
#include <smacc2/smacc_asynchronous_client_behavior.hpp>
 
namespace cl_foundation_pose
{
 
class CbTrackObjectPause : public smacc2::SmaccClientBehavior
{
private:
  cl_foundation_pose::CpObjectTrackerTf * objectTracker_ = nullptr;
 
public:
  CbTrackObjectPause() {}
 
  virtual ~CbTrackObjectPause() {}
 
  virtual void onEntry() override
  {
    requiresComponent(objectTracker_);
    RCLCPP_INFO(getLogger(), "CbTrackObjectPause onEntry - disabling tracking");
    objectTracker_->setEnabled(false);
  }
 
  virtual void onExit() override
  {
    RCLCPP_INFO(getLogger(), "CbTrackObjectPause onExit - re-enabling tracking");
    objectTracker_->setEnabled(true);
  }
};
}  // namespace cl_foundation_pose