From 4c86f8535e3c9157c9b8977ca238a41dae9b0845 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Victor=20Matar=C3=A9?= <matare@fh-aachen.de>
Date: Sat, 17 Apr 2021 02:20:32 +0200
Subject: [PATCH] add turtlesim action

---
 CMakeLists.txt                           |  1 +
 package.xml                              |  1 +
 src/actions/gologpp_turtle_actionlib.cpp | 22 ++++++++++++++++++++++
 src/ros_backend.h                        |  5 ++---
 4 files changed, 26 insertions(+), 3 deletions(-)
 create mode 100644 src/actions/gologpp_turtle_actionlib.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 0404e07..48957da 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -23,6 +23,7 @@ find_package(catkin REQUIRED COMPONENTS
 )
 
 set(gologpp_action_pkgs
+	turtle_actionlib
 	darknet_action_msgs
 	naoqi_wrapper_msgs
 	naoqi_bridge_msgs
diff --git a/package.xml b/package.xml
index ba5ba77..0e02e6c 100644
--- a/package.xml
+++ b/package.xml
@@ -56,6 +56,7 @@
   <depend>naoqi_wrapper_msgs</depend>
   <depend>naoqi_bridge_msgs</depend>
   <depend>darknet_action_msgs</depend>
+  <depend>turtle_actionlib</depend>
   <depend>move_base_msgs</depend>
   <depend>opencv_apps_action_msgs</depend>
 
diff --git a/src/actions/gologpp_turtle_actionlib.cpp b/src/actions/gologpp_turtle_actionlib.cpp
new file mode 100644
index 0000000..8a69cd1
--- /dev/null
+++ b/src/actions/gologpp_turtle_actionlib.cpp
@@ -0,0 +1,22 @@
+#include "action_manager.h"
+#include "exog_manager.h"
+#include "ros_backend.h"
+
+#include <execution/controller.h>
+
+#include <turtle_actionlib/ShapeAction.h>
+
+
+template<>
+ActionManager<turtle_actionlib::ShapeAction>::GoalT
+ActionManager<turtle_actionlib::ShapeAction>::build_goal(const gpp::Activity &a)
+{
+	turtle_actionlib::ShapeGoal goal;
+	goal.edges = a.mapped_arg_value("edges").numeric_convert<int>();
+	goal.radius = a.mapped_arg_value("radius").numeric_convert<float>();
+	return goal;
+}
+
+
+void RosBackend::define_turtle_actions()
+{ create_ActionManager<turtle_actionlib::ShapeAction>("turtle_shape"); }
diff --git a/src/ros_backend.h b/src/ros_backend.h
index 9bee06b..890f468 100644
--- a/src/ros_backend.h
+++ b/src/ros_backend.h
@@ -50,14 +50,13 @@ class RosBackend : public gologpp::PlatformBackend
 private:
 	virtual void terminate_() override;
 
-	// Implemented in pepper_actions.cpp:
-	// Fill action_containers_ by calling define_action_client for
-	// each action that should be made available.
+	// May have an implementation iff the corresponding package has been found
 	void define_naoqi_wrapper_actions();
 	void define_move_base_actions();
 	void define_darknet_actions();
 	void define_naoqi_bridge_actions();
 	void define_opencv_apps_actions();
+	void define_turtle_actions();
 
 	template<class ActionT>
 	void create_ActionManager(const std::string &name);