cp_goal_checker.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.
 
#pragma once
 
#include <cmath>
#include <smacc2/smacc.hpp>
 
namespace cl_px4_mr
{
 
class CpVehicleLocalPosition;
 
class CpGoalChecker : public smacc2::ISmaccComponent, public smacc2::ISmaccUpdatable
{
public:
  CpGoalChecker();
  virtual ~CpGoalChecker();
 
  void onInitialize() override;
  void update() override;
 
  void setGoal(float x, float y, float z, float xy_tolerance = 0.5f, float z_tolerance = 0.3f);
  void clearGoal();
  bool isGoalActive() const;
 
  smacc2::SmaccSignal<void()> onGoalReached_;
 
private:
  CpVehicleLocalPosition * localPosition_ = nullptr;
  float goalX_ = 0.0f;
  float goalY_ = 0.0f;
  float goalZ_ = 0.0f;
  float xyTolerance_ = 0.5f;
  float zTolerance_ = 0.3f;
  bool goalActive_ = false;
};
 
}  // namespace cl_px4_mr