refactoring

src/modelec_strat/include/modelec_strat/action_executor.hpp

@@ -7,15 +7,14 @@
 
 namespace Modelec
 {
-
     class ActionExecutor
     {
     public:
-
         enum Action
         {
             NONE,
             DEPLOY_BANNER,
+            RETRACT_BANNER,
             TAKE_POT,
             PLACE_POT,
         };
@@ -36,6 +35,8 @@ namespace Modelec
 
         void DeployBanner();
 
+        void RetractBanner();
+
         void TakePot();
 
         void PlacePot();
@@ -75,5 +76,4 @@ namespace Modelec
     private:
         rclcpp::Node::SharedPtr node_;
     };
-
-}
+}

src/modelec_strat/include/modelec_strat/enemy_manager.hpp

@@ -21,7 +21,6 @@ namespace Modelec
         void TimerCallback();
 
     private:
-
         rclcpp::Subscription<modelec_interfaces::msg::OdometryPos>::SharedPtr current_pos_sub_;
         rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr laser_scan_sub_;
         rclcpp::Subscription<modelec_interfaces::msg::StratState>::SharedPtr state_sub_;

src/modelec_strat/include/modelec_strat/missions/banner_mission.hpp

@@ -15,15 +15,16 @@ namespace Modelec
     {
     public:
         BannerMission(const std::shared_ptr<NavigationHelper>& nav,
-                        const std::shared_ptr<ActionExecutor>& action_executor);
+                      const std::shared_ptr<ActionExecutor>& action_executor);
 
-        void start(rclcpp::Node::SharedPtr node) override;
-        void update() override;
-        void clear() override;
-        MissionStatus getStatus() const override;
-        std::string name() const override { return "Promotion"; }
+        void Start(rclcpp::Node::SharedPtr node) override;
+        void Update() override;
+        void Clear() override;
+        MissionStatus GetStatus() const override;
+        std::string GetName() const override { return "Promotion"; }
 
-        enum Step {
+        enum Step
+        {
             GO_TO_FRONT,
             DEPLOY_BANNER,
             GO_FORWARD,

src/modelec_strat/include/modelec_strat/missions/go_home_mission.hpp

@@ -11,14 +11,15 @@ namespace Modelec
     public:
         GoHomeMission(const std::shared_ptr<NavigationHelper>& nav, const rclcpp::Time& start_time);
 
-        void start(rclcpp::Node::SharedPtr node) override;
-        void update() override;
-        void clear() override;
-        MissionStatus getStatus() const override;
-        std::string name() const override { return "GoHome"; }
+        void Start(rclcpp::Node::SharedPtr node) override;
+        void Update() override;
+        void Clear() override;
+        MissionStatus GetStatus() const override;
+        std::string GetName() const override { return "GoHome"; }
 
     private:
-        enum Step {
+        enum Step
+        {
             ROTATE_TO_HOME,
             GO_HOME,
             GO_CLOSE,

src/modelec_strat/include/modelec_strat/missions/mission_base.hpp

@@ -19,10 +19,10 @@ namespace Modelec
     {
     public:
         virtual ~Mission() = default;
-        virtual void start(rclcpp::Node::SharedPtr node) = 0;
-        virtual void update() = 0;
-        virtual void clear() = 0;
-        virtual MissionStatus getStatus() const = 0;
-        virtual std::string name() const = 0;
+        virtual void Start(rclcpp::Node::SharedPtr node) = 0;
+        virtual void Update() = 0;
+        virtual void Clear() = 0;
+        virtual MissionStatus GetStatus() const = 0;
+        virtual std::string GetName() const = 0;
     };
 }

src/modelec_strat/include/modelec_strat/missions/prepare_concert_mission.hpp

@@ -6,21 +6,23 @@
 #include <modelec_strat/obstacle/column.hpp>
 #include <std_msgs/msg/int64.hpp>
 
-namespace Modelec {
-
-    class PrepareConcertMission : public Mission {
+namespace Modelec
+{
+    class PrepareConcertMission : public Mission
+    {
     public:
         PrepareConcertMission(const std::shared_ptr<NavigationHelper>& nav,
                               const std::shared_ptr<ActionExecutor>& action_executor);
 
-        void start(rclcpp::Node::SharedPtr node) override;
-        void update() override;
-        void clear() override;
-        MissionStatus getStatus() const override;
-        std::string name() const override { return "PrepareConcert"; }
+        void Start(rclcpp::Node::SharedPtr node) override;
+        void Update() override;
+        void Clear() override;
+        MissionStatus GetStatus() const override;
+        std::string GetName() const override { return "PrepareConcert"; }
 
     private:
-        enum Step {
+        enum Step
+        {
             GO_TO_COLUMN,
             GO_CLOSE_TO_COLUMN,
             TAKE_COLUMN,
@@ -43,5 +45,4 @@ namespace Modelec {
         rclcpp::Publisher<std_msgs::msg::Int64>::SharedPtr score_pub_;
         int mission_score_ = 0;
     };
-
 }

src/modelec_strat/include/modelec_strat/obstacle/column.hpp

@@ -12,7 +12,7 @@ namespace Modelec
         ColumnObstacle(const ColumnObstacle&) = default;
 
         ColumnObstacle(int id, int x, int y, double theta, int w, int h, const std::string& type);
-        ColumnObstacle(tinyxml2::XMLElement * obstacleElem);
+        ColumnObstacle(tinyxml2::XMLElement* obstacleElem);
         ColumnObstacle(const modelec_interfaces::msg::Obstacle& msg);
 
         bool IsAtObjective() const;

src/modelec_strat/include/modelec_strat/obstacle/obstacle.hpp

@@ -8,12 +8,17 @@
 
 #include <modelec_utils/point.hpp>
 
-namespace Modelec {
-    class Obstacle {
+namespace Modelec
+{
+    class Obstacle
+    {
     public:
-        Obstacle() : id_(-1), x_(0), y_(0), w_(0), h_(0), theta_(0), type_("unknown") {}
+        Obstacle() : id_(-1), x_(0), y_(0), w_(0), h_(0), theta_(0), type_("unknown")
+        {
+        }
+
         Obstacle(int id, int x, int y, double theta, int w, int h, const std::string& type);
-        Obstacle(tinyxml2::XMLElement * obstacleElem);
+        Obstacle(tinyxml2::XMLElement* obstacleElem);
         Obstacle(const modelec_interfaces::msg::Obstacle& msg);
         Obstacle(const Obstacle& other) = default;
 
@@ -21,39 +26,43 @@ namespace Modelec {
 
         virtual modelec_interfaces::msg::Obstacle toMsg() const;
 
-        int id() const { return id_; }
-        int x() const { return x_; }
-        int y() const { return y_; }
-        double theta() const { return theta_; }
-        int width() const { return w_; }
-        int height() const { return h_; }
-        const std::string& type() const { return type_; }
+        int GetId() const { return id_; }
+        int GetX() const { return x_; }
+        int GetY() const { return y_; }
+        double GetTheta() const { return theta_; }
+        int GetWidth() const { return w_; }
+        int GetHeight() const { return h_; }
+        const std::string& Type() const { return type_; }
         Point GetPosition() const { return Point(x_, y_, theta_); }
 
-        void setId(int id) { id_ = id; }
-        void setX(int x) { x_ = x; }
-        void setY(int y) { y_ = y; }
-        void setTheta(double theta) { theta_ = theta; }
-        void setWidth(int w) { w_ = w; }
-        void setHeight(int h) { h_ = h; }
-        void setType(const std::string& type) { type_ = type; }
+        void SetId(int id) { id_ = id; }
+        void SetX(int x) { x_ = x; }
+        void SetY(int y) { y_ = y; }
+        void SetTheta(double theta) { theta_ = theta; }
+        void SetWidth(int w) { w_ = w; }
+        void SetHeight(int h) { h_ = h; }
+        void SetType(const std::string& type) { type_ = type; }
 
-        void setPosition(int x, int y, double theta) {
+        void SetPosition(int x, int y, double theta)
+        {
             x_ = x;
             y_ = y;
             theta_ = theta;
         }
 
-        void setPosition(const Point& p) {
+        void SetPosition(const Point& p)
+        {
             x_ = p.x;
             y_ = p.y;
             theta_ = p.theta;
         }
 
-        void setSize(int w, int h) {
+        void SetSize(int w, int h)
+        {
             w_ = w;
             h_ = h;
         }
+
     protected:
         int id_, x_, y_, w_, h_;
         double theta_;

src/modelec_strat/include/modelec_strat/pami_manager.hpp

@@ -12,8 +12,8 @@
 #include <std_msgs/msg/int64.hpp>
 #include <std_msgs/msg/empty.hpp>
 
-namespace Modelec {
-
+namespace Modelec
+{
     class PamiManger : public rclcpp::Node
     {
     public:
@@ -43,5 +43,4 @@ namespace Modelec {
         rclcpp::Publisher<std_msgs::msg::Int64>::SharedPtr score_pub_;
         rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr reset_strat_sub_;
     };
-
-}
+}

src/modelec_strat/include/modelec_strat/pathfinding.hpp

@@ -35,7 +35,7 @@ namespace Modelec
 
         explicit Waypoint(const WaypointMsg& waypoint);
 
-        WaypointMsg toMsg() const;
+        WaypointMsg ToMsg() const;
     };
 
     class Pathfinding
@@ -65,7 +65,7 @@ namespace Modelec
 
         Pathfinding(const rclcpp::Node::SharedPtr& node);
 
-        rclcpp::Node::SharedPtr getNode() const;
+        rclcpp::Node::SharedPtr GetNode() const;
 
         std::pair<int, WaypointListMsg> FindPath(const PosMsg::SharedPtr& start,
                                                  const PosMsg::SharedPtr& goal, bool isClose = false,

src/modelec_strat/include/modelec_strat/strat_fms.hpp

@@ -44,9 +44,9 @@ namespace Modelec
         void Reset();
 
     protected:
-        void transition(State next, const std::string& reason);
+        void Transition(State next, const std::string& reason);
 
-        void update();
+        void Update();
 
     private:
         State state_;

src/modelec_strat/src/action_executor.cpp

@@ -85,31 +85,58 @@ namespace Modelec
             return;
         }
 
-        step_.pop();
-        step_done_ = false;
+        if (step_done_)
+        {
+            step_.pop();
+            step_done_ = false;
+
+            switch (step_.front())
+            {
+            }
+        }
     }
 
     void ActionExecutor::DeployBanner()
     {
-        action_ = DEPLOY_BANNER;
-        action_done_ = false;
+        if (action_done_)
+        {
+            action_ = DEPLOY_BANNER;
+            action_done_ = false;
 
-        Update();
+            Update();
+        }
+    }
+
+    void ActionExecutor::RetractBanner()
+    {
+        if (action_done_)
+        {
+            action_ = RETRACT_BANNER;
+            action_done_ = false;
+
+            Update();
+        }
     }
 
     void ActionExecutor::TakePot()
     {
-        action_ = TAKE_POT;
-        action_done_ = false;
+        if (action_done_)
+        {
+            action_ = TAKE_POT;
+            action_done_ = false;
 
-        Update();
+            Update();
+        }
     }
 
     void ActionExecutor::PlacePot()
     {
-        action_ = PLACE_POT;
-        action_done_ = false;
+        if (action_done_)
+        {
+            action_ = PLACE_POT;
+            action_done_ = false;
 
-        Update();
+            Update();
+        }
     }
 }

src/modelec_strat/src/deposite_zone.cpp

@@ -22,7 +22,8 @@ namespace Modelec
         auto posPotList = obstacleElem->FirstChildElement("PotPos");
         if (posPotList)
         {
-            for (auto elemPos = posPotList->FirstChildElement("Pos"); elemPos; elemPos = elemPos->NextSiblingElement("Pos"))
+            for (auto elemPos = posPotList->FirstChildElement("Pos"); elemPos; elemPos = elemPos->
+                 NextSiblingElement("Pos"))
             {
                 Point pos;
                 elemPos->QueryIntAttribute("x", &pos.x);

src/modelec_strat/src/missions/banner_mission.cpp

@@ -4,12 +4,13 @@
 
 namespace Modelec
 {
-    BannerMission::BannerMission(const std::shared_ptr<NavigationHelper>& nav, const std::shared_ptr<ActionExecutor>& action_executor) : step_(GO_TO_FRONT),
+    BannerMission::BannerMission(const std::shared_ptr<NavigationHelper>& nav,
+                                 const std::shared_ptr<ActionExecutor>& action_executor) : step_(GO_TO_FRONT),
         status_(MissionStatus::READY), nav_(nav), action_executor_(action_executor)
     {
     }
 
-    void BannerMission::start(rclcpp::Node::SharedPtr node)
+    void BannerMission::Start(rclcpp::Node::SharedPtr node)
     {
         node_ = node;
 
@@ -24,7 +25,7 @@ namespace Modelec
         status_ = MissionStatus::RUNNING;
     }
 
-    void BannerMission::update()
+    void BannerMission::Update()
     {
         if (status_ != MissionStatus::RUNNING) return;
 
@@ -65,11 +66,11 @@ namespace Modelec
         }
     }
 
-    void BannerMission::clear()
+    void BannerMission::Clear()
     {
     }
 
-    MissionStatus BannerMission::getStatus() const
+    MissionStatus BannerMission::GetStatus() const
     {
         return status_;
     }

src/modelec_strat/src/missions/go_home_mission.cpp

@@ -4,11 +4,12 @@
 
 namespace Modelec
 {
-    GoHomeMission::GoHomeMission(const std::shared_ptr<NavigationHelper>& nav, const rclcpp::Time& start_time) : step_(ROTATE_TO_HOME), status_(MissionStatus::READY), nav_(nav), start_time_(start_time)
+    GoHomeMission::GoHomeMission(const std::shared_ptr<NavigationHelper>& nav, const rclcpp::Time& start_time) :
+        step_(ROTATE_TO_HOME), status_(MissionStatus::READY), nav_(nav), start_time_(start_time)
     {
     }
 
-    void GoHomeMission::start(rclcpp::Node::SharedPtr node)
+    void GoHomeMission::Start(rclcpp::Node::SharedPtr node)
     {
         node_ = node;
 
@@ -31,58 +32,58 @@ namespace Modelec
         status_ = MissionStatus::RUNNING;
     }
 
-    void GoHomeMission::update()
+    void GoHomeMission::Update()
     {
         if (!nav_->HasArrived()) return;
 
         switch (step_)
         {
-            case ROTATE_TO_HOME:
+        case ROTATE_TO_HOME:
+            {
+                if (nav_->GoTo(home_point_.GetTakeBasePosition()) != Pathfinding::FREE)
                 {
-                    if (nav_->GoTo(home_point_.GetTakeBasePosition()) != Pathfinding::FREE)
+                    if (nav_->GoTo(home_point_.GetTakeBasePosition(), true) != Pathfinding::FREE)
                     {
-                        if (nav_->GoTo(home_point_.GetTakeBasePosition(), true) != Pathfinding::FREE)
-                        {
-                            status_ = MissionStatus::FAILED;
-                            return;
-                        }
+                        status_ = MissionStatus::FAILED;
+                        return;
                     }
                 }
+            }
 
-                step_ = GO_HOME;
+            step_ = GO_HOME;
+            break;
+        case GO_HOME:
+            if ((node_->now() - start_time_).seconds() < 94)
+            {
                 break;
-            case GO_HOME:
-                if ((node_->now() - start_time_).seconds() < 94)
-                {
-                    break;
-                }
+            }
 
-                nav_->GoTo(home_point_.GetTakePosition(0), true);
+            nav_->GoTo(home_point_.GetTakePosition(0), true);
+
+            step_ = GO_CLOSE;
+            break;
+
+        case GO_CLOSE:
+            {
+                std_msgs::msg::Int64 msg;
+                msg.data = mission_score_;
+                score_pub_->publish(msg);
+
+                step_ = DONE;
+                status_ = MissionStatus::DONE;
 
-                step_ = GO_CLOSE;
-                break;
-
-            case GO_CLOSE:
-                {
-                    std_msgs::msg::Int64 msg;
-                    msg.data = mission_score_;
-                    score_pub_->publish(msg);
-
-                    step_ = DONE;
-                    status_ = MissionStatus::DONE;
-
-                    break;
-                }
-            default:
                 break;
+            }
+        default:
+            break;
         }
     }
 
-    void GoHomeMission::clear()
+    void GoHomeMission::Clear()
     {
     }
 
-    MissionStatus GoHomeMission::getStatus() const
+    MissionStatus GoHomeMission::GetStatus() const
     {
         return status_;
     }

src/modelec_strat/src/missions/prepare_concert_mission.cpp

@@ -4,12 +4,14 @@
 
 namespace Modelec
 {
-    PrepareConcertMission::PrepareConcertMission(const std::shared_ptr<NavigationHelper>& nav, const std::shared_ptr<ActionExecutor>& action_executor) : step_(GO_TO_COLUMN),
+    PrepareConcertMission::PrepareConcertMission(const std::shared_ptr<NavigationHelper>& nav,
+                                                 const std::shared_ptr<ActionExecutor>& action_executor) :
+        step_(GO_TO_COLUMN),
         status_(MissionStatus::READY), nav_(nav), action_executor_(action_executor)
     {
     }
 
-    void PrepareConcertMission::start(rclcpp::Node::SharedPtr node)
+    void PrepareConcertMission::Start(rclcpp::Node::SharedPtr node)
     {
         node_ = node;
 
@@ -38,7 +40,7 @@ namespace Modelec
                 auto res = nav_->GoToRotateFirst(pos, false, Pathfinding::FREE | Pathfinding::WALL);
                 if (res != Pathfinding::FREE)
                 {
-                    blacklistId.push_back(column_->id());
+                    blacklistId.push_back(column_->GetId());
                 }
                 else
                 {
@@ -58,7 +60,7 @@ namespace Modelec
         status_ = MissionStatus::RUNNING;
     }
 
-    void PrepareConcertMission::update()
+    void PrepareConcertMission::Update()
     {
         if (status_ != MissionStatus::RUNNING) return;
 
@@ -78,7 +80,7 @@ namespace Modelec
             break;
         case GO_CLOSE_TO_COLUMN:
             action_executor_->TakePot();
-            nav_->GetPathfinding()->RemoveObstacle(column_->id());
+            nav_->GetPathfinding()->RemoveObstacle(column_->GetId());
 
             step_ = TAKE_COLUMN;
             break;
@@ -112,7 +114,6 @@ namespace Modelec
             break;
         case GO_BACK:
             {
-
                 bool canGo = false;
                 std::vector<int> blacklistId = {};
                 int timeout = 0;
@@ -127,7 +128,8 @@ namespace Modelec
 
                         if (nav_->CanGoTo(p, false, Pathfinding::FREE | Pathfinding::WALL) != Pathfinding::FREE)
                         {
-                            if (nav_->GoToRotateFirst(p, true, Pathfinding::FREE | Pathfinding::WALL) != Pathfinding::FREE)
+                            if (nav_->GoToRotateFirst(p, true, Pathfinding::FREE | Pathfinding::WALL) !=
+                                Pathfinding::FREE)
                             {
                                 blacklistId.push_back(closestDepoZone_->GetId());
                             }
@@ -175,9 +177,9 @@ namespace Modelec
             {
                 action_executor_->PlacePot();
 
-                column_->setX(closestDepoZonePoint_.x);
-                column_->setY(closestDepoZonePoint_.y);
-                column_->setTheta(closestDepoZonePoint_.theta);
+                column_->SetX(closestDepoZonePoint_.x);
+                column_->SetY(closestDepoZonePoint_.y);
+                column_->SetTheta(closestDepoZonePoint_.theta);
                 column_->SetAtObjective(true);
                 nav_->GetPathfinding()->AddObstacle(column_);
             }
@@ -213,12 +215,12 @@ namespace Modelec
         }
     }
 
-    void PrepareConcertMission::clear()
+    void PrepareConcertMission::Clear()
     {
         // TODO : if is doing construction, stop everything and release everything
     }
 
-    MissionStatus PrepareConcertMission::getStatus() const
+    MissionStatus PrepareConcertMission::GetStatus() const
     {
         return status_;
     }

src/modelec_strat/src/navigation_helper.cpp

@@ -89,7 +89,7 @@ namespace Modelec
     {
         for (auto& w : waypoints_)
         {
-            waypoint_pub_->publish(w.toMsg());
+            waypoint_pub_->publish(w.ToMsg());
         }
     }
 

src/modelec_strat/src/obstacle/column.cpp

@@ -12,8 +12,8 @@ namespace Modelec
     {
         possible_angles_.push_back(theta_);
         for (auto elem = obstacleElem->FirstChildElement("possible-angle");
-            elem;
-            elem = elem->NextSiblingElement("possible-angle"))
+             elem;
+             elem = elem->NextSiblingElement("possible-angle"))
         {
             possible_angles_.push_back(elem->DoubleAttribute("theta"));
         }
@@ -61,7 +61,7 @@ namespace Modelec
     std::vector<Point> ColumnObstacle::GetAllPossiblePositions() const
     {
         std::vector<Point> positions;
-        for (const auto & angle : possible_angles_)
+        for (const auto& angle : possible_angles_)
         {
             positions.push_back(Point(x_, y_, angle));
         }

src/modelec_strat/src/pathfinding.cpp

@@ -107,7 +107,7 @@ namespace Modelec
             "odometry/add_waypoint", 100);
     }
 
-    rclcpp::Node::SharedPtr Pathfinding::getNode() const
+    rclcpp::Node::SharedPtr Pathfinding::GetNode() const
     {
         return node_;
     }
@@ -224,11 +224,11 @@ namespace Modelec
         // TODO some bug exist with the inflate
         for (const auto& [id, obstacle] : obstacle_map_)
         {
-            float cx = obstacle->x();
-            float cy = obstacle->y();
-            float width = obstacle->width() + inflate_x * 2 * cell_size_mm_x;
-            float height = obstacle->height() + inflate_y * 2 * cell_size_mm_y;
-            float theta = M_PI_2 - obstacle->theta();
+            float cx = obstacle->GetX();
+            float cy = obstacle->GetY();
+            float width = obstacle->GetWidth() + inflate_x * 2 * cell_size_mm_x;
+            float height = obstacle->GetHeight() + inflate_y * 2 * cell_size_mm_y;
+            float theta = M_PI_2 - obstacle->GetTheta();
 
             float dx = width / 2.0f;
             float dy = height / 2.0f;
@@ -521,7 +521,7 @@ namespace Modelec
 
     void Pathfinding::AddObstacle(const std::shared_ptr<Obstacle>& obstacle)
     {
-        obstacle_map_[obstacle->id()] = obstacle;
+        obstacle_map_[obstacle->GetId()] = obstacle;
         modelec_interfaces::msg::Obstacle msg = obstacle->toMsg();
         obstacle_add_pub_->publish(msg);
     }
@@ -539,7 +539,7 @@ namespace Modelec
         {
             if (auto obs = std::dynamic_pointer_cast<ColumnObstacle>(obstacle))
             {
-                if (!obs->IsAtObjective() && std::find(blacklistedId.begin(), blacklistedId.end(), obs->id()) ==
+                if (!obs->IsAtObjective() && std::find(blacklistedId.begin(), blacklistedId.end(), obs->GetId()) ==
                     blacklistedId.end())
                 {
                     for (auto possiblePos : obs->GetAllPossiblePositions())
@@ -606,10 +606,10 @@ namespace Modelec
         {
             if (auto column = std::dynamic_pointer_cast<ColumnObstacle>(obs))
             {
-                if (Point::distance(enemyPos, column->GetPosition()) < enemy_width_mm_ + (column->width() / 2) +
+                if (Point::distance(enemyPos, column->GetPosition()) < enemy_width_mm_ + (column->GetWidth() / 2) +
                     enemy_margin_mm_)
                 {
-                    RemoveObstacle(column->id());
+                    RemoveObstacle(column->GetId());
                 }
             }
         }
@@ -648,7 +648,7 @@ namespace Modelec
              obstacleElem = obstacleElem->NextSiblingElement("Obstacle"))
         {
             std::shared_ptr<Obstacle> obs = std::make_shared<Obstacle>(obstacleElem);
-            obstacle_map_[obs->id()] = obs;
+            obstacle_map_[obs->GetId()] = obs;
         }
 
         for (tinyxml2::XMLElement* obstacleElem = root->FirstChildElement("Gradin");
@@ -656,7 +656,7 @@ namespace Modelec
              obstacleElem = obstacleElem->NextSiblingElement("Gradin"))
         {
             std::shared_ptr<ColumnObstacle> obs = std::make_shared<ColumnObstacle>(obstacleElem);
-            obstacle_map_[obs->id()] = obs;
+            obstacle_map_[obs->GetId()] = obs;
         }
 
         RCLCPP_INFO(node_->get_logger(), "Loaded %zu obstacles from XML", obstacle_map_.size());
@@ -683,7 +683,7 @@ namespace Modelec
         reached = false;
     }
 
-    WaypointMsg Waypoint::toMsg() const
+    WaypointMsg Waypoint::ToMsg() const
     {
         return static_cast<OdometryAddWaypoint_<std::allocator<void>>>(*this);
     }

src/modelec_strat/src/strat_fms.cpp

@@ -76,7 +76,7 @@ namespace Modelec
 
         timer_ = create_wall_timer(std::chrono::milliseconds(100), [this]
         {
-            update();
+            Update();
         });
     }
 
@@ -87,7 +87,7 @@ namespace Modelec
         Init();
     }
 
-    void StratFMS::transition(State next, const std::string& reason)
+    void StratFMS::Transition(State next, const std::string& reason)
     {
         RCLCPP_INFO(get_logger(), "Transition %d -> %d: %s", static_cast<int>(state_), static_cast<int>(next),
                     reason.c_str());
@@ -98,7 +98,7 @@ namespace Modelec
         state_pub_->publish(msg);
     }
 
-    void StratFMS::update()
+    void StratFMS::Update()
     {
         auto now = this->now();
 
@@ -106,7 +106,7 @@ namespace Modelec
         {
         case State::INIT:
             RCLCPP_INFO_ONCE(get_logger(), "State: INIT");
-            transition(State::WAIT_START, "System ready");
+            Transition(State::WAIT_START, "System ready");
             break;
         case State::WAIT_START:
             if (started_)
@@ -119,7 +119,7 @@ namespace Modelec
                                .count();
                 start_time_pub_->publish(msg);
 
-                transition(State::SELECT_MISSION, "Match started");
+                Transition(State::SELECT_MISSION, "Match started");
             }
             break;
 
@@ -129,15 +129,15 @@ namespace Modelec
                 // select mission in a good way there.
                 if (elapsed.seconds() < 2)
                 {
-                    transition(State::DO_PROMOTION, "Start promotion");
+                    Transition(State::DO_PROMOTION, "Start promotion");
                 }
                 else if (elapsed.seconds() < 80)
                 {
-                    transition(State::DO_PREPARE_CONCERT, "Proceed to concert");
+                    Transition(State::DO_PREPARE_CONCERT, "Proceed to concert");
                 }
                 else
                 {
-                    transition(State::DO_GO_HOME, "Cleanup and finish match");
+                    Transition(State::DO_GO_HOME, "Cleanup and finish match");
                 }
                 break;
             }
@@ -146,24 +146,24 @@ namespace Modelec
             if (!current_mission_)
             {
                 current_mission_ = std::make_unique<PrepareConcertMission>(nav_, action_executor_);
-                current_mission_->start(shared_from_this());
+                current_mission_->Start(shared_from_this());
             }
-            current_mission_->update();
-            if (current_mission_->getStatus() == MissionStatus::DONE)
+            current_mission_->Update();
+            if (current_mission_->GetStatus() == MissionStatus::DONE)
             {
                 current_mission_.reset();
-                transition(State::SELECT_MISSION, "PrepareConcert finished");
+                Transition(State::SELECT_MISSION, "PrepareConcert finished");
             }
-            else if (current_mission_->getStatus() == MissionStatus::FAILED)
+            else if (current_mission_->GetStatus() == MissionStatus::FAILED)
             {
-                current_mission_->clear();
+                current_mission_->Clear();
                 current_mission_.reset();
-                transition(State::SELECT_MISSION, "PrepareConcert failed");
+                Transition(State::SELECT_MISSION, "PrepareConcert failed");
             }
-            else if (current_mission_->getStatus() == MissionStatus::FINISH_ALL)
+            else if (current_mission_->GetStatus() == MissionStatus::FINISH_ALL)
             {
                 current_mission_.reset();
-                transition(State::DO_GO_HOME, "Finish all finished");
+                Transition(State::DO_GO_HOME, "Finish all finished");
             }
             break;
 
@@ -171,18 +171,18 @@ namespace Modelec
             if (!current_mission_)
             {
                 current_mission_ = std::make_unique<BannerMission>(nav_, action_executor_);
-                current_mission_->start(shared_from_this());
+                current_mission_->Start(shared_from_this());
             }
-            current_mission_->update();
-            if (current_mission_->getStatus() == MissionStatus::DONE)
+            current_mission_->Update();
+            if (current_mission_->GetStatus() == MissionStatus::DONE)
             {
                 current_mission_.reset();
-                transition(State::SELECT_MISSION, "Promotion finished");
+                Transition(State::SELECT_MISSION, "Promotion finished");
             }
-            else if (current_mission_->getStatus() == MissionStatus::FAILED)
+            else if (current_mission_->GetStatus() == MissionStatus::FAILED)
             {
                 current_mission_.reset();
-                transition(State::SELECT_MISSION, "Promotion failed");
+                Transition(State::SELECT_MISSION, "Promotion failed");
             }
             break;
 
@@ -190,13 +190,13 @@ namespace Modelec
             if (!current_mission_)
             {
                 current_mission_ = std::make_unique<GoHomeMission>(nav_, match_start_time_);
-                current_mission_->start(shared_from_this());
+                current_mission_->Start(shared_from_this());
             }
-            current_mission_->update();
-            if (current_mission_->getStatus() == MissionStatus::DONE)
+            current_mission_->Update();
+            if (current_mission_->GetStatus() == MissionStatus::DONE)
             {
                 current_mission_.reset();
-                transition(State::STOP, "Cleanup done");
+                Transition(State::STOP, "Cleanup done");
             }
             break;