action.hpp

/****************************************************************************
 * Copyright (c) 2024 PX4 Development Team.
 * SPDX-License-Identifier: BSD-3-Clause
 ****************************************************************************/
 
#pragma once
#include <functional>
#include <memory>
#include <string>
#include <vector>
#include <px4_ros2/mission/mission.hpp>
 
namespace px4_ros2
{
class ActionHandler;
 
class ActionInterface
{
public:
  virtual ~ActionInterface() = default;
 
  virtual std::string name() const = 0;
 
  virtual bool canRun(const ActionArguments & arguments, std::vector<std::string> & errors)
  {
    return true;
  }
 
  virtual bool shouldStopAtWaypoint(const ActionArguments & arguments) {return true;}
 
  virtual bool supportsResumeFromLanded() {return false;}
 
  virtual void run(
    const std::shared_ptr<ActionHandler> & handler,
    const ActionArguments & arguments,
    const std::function<void()> & on_completed) = 0;
 
  virtual void deactivate() {}
};
 
 
} /* namespace px4_ros2 */