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Path workaround for navigation into the laboratory #8

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Path workaround for navigation into the laboratory #8

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d51c266
Added path workaround for navigation into the laboratory
fbrand-new Sep 5, 2024
303b5e5
Rename laboratory area and laboratory path to make it the same to loc…
fbrand-new Sep 24, 2024
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17 changes: 16 additions & 1 deletion modules/r1Obr-orchestrator/nav2loc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -105,6 +105,21 @@ bool Nav2Loc::go(string loc)
if (loc == "home")
return goHome();

// This piece of code will work with a specific locations.ini configuration
// Forcing a specific path following if we want to go to the laboratory from outside
if(loc == "laboratory")
{
if(!m_iNav2D->checkInsideArea("laboratory_area"))
{
if(!m_iNav2D->gotoTargetByLocationName("laboratory_path"))
{
yCError(NAV_2_LOC, "Error with navigation to lab area from outside");
return false;
}
}
// If we are inside the lab area, we swap to the default behaviour
}

if(!m_iNav2D->gotoTargetByLocationName(loc))
{
yCError(NAV_2_LOC, "Error with navigation to home location");
Expand Down Expand Up @@ -177,4 +192,4 @@ bool Nav2Loc::isNavigationAborted()
string Nav2Loc::getCurrentTarget()
{
return m_current_target_location;
}
}