PointTowardsZoneEvent.h

#pragma once
 
#include "pathplanner/lib/events/Event.h"
#include "pathplanner/lib/events/PointTowardsZoneTrigger.h"
#include <string>
 
namespace pathplanner {
class PointTowardsZoneEvent: public Event {
public:
    PointTowardsZoneEvent(units::second_t timestamp, std::string name,
            bool active) : Event(timestamp), m_name(name), m_active(active) {
    }
 
    inline void handleEvent(EventScheduler *eventScheduler) override {
        PointTowardsZoneTrigger::setWithinZone(m_name, m_active);
    }
 
    inline void cancelEvent(EventScheduler *eventScheduler) override {
        if (!m_active) {
            // Ensure this zone's condition gets set to false
            PointTowardsZoneTrigger::setWithinZone(m_name, false);
        }
    }
 
    inline std::shared_ptr<Event> copyWithTimestamp(units::second_t timestamp)
            override {
        return std::make_shared < PointTowardsZoneEvent
                > (timestamp, m_name, m_active);
    }
 
private:
    std::string m_name;
    bool m_active;
};
}