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Added the InitialPoseRestorationPolicy to the Registry #146

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Added the InitialPoseRestorationPolicy to the Registry #146

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35 changes: 34 additions & 1 deletion Gems/ROS2PoseControl/Code/Source/Clients/ROS2PoseControl.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -31,6 +31,32 @@

namespace ROS2PoseControl
{
constexpr AZStd::string_view PoseRestorationPolicyKey = "/O3DE/ROS2PoseControl/InitialPoseRestoratonPolicy";

namespace
{
InitialPoseRestorationPolicy ConvertStringToPolicy(AZStd::string& policy)
{
AZStd::transform(
policy.begin(),
policy.end(),
policy.begin(),
[](char c)
{
return AZStd::tolower(c);
});
if (policy == "never")
{
return InitialPoseRestorationPolicy::Never;
}
else if (policy == "everytime")
{
return InitialPoseRestorationPolicy::Everytime;
}
return InitialPoseRestorationPolicy::Once;
}
} // namespace

ROS2PoseControl::ROS2PoseControl()
{
m_configuration.m_poseTopicConfiguration.m_topic = "goal_pose";
Expand All @@ -46,10 +72,17 @@ namespace ROS2PoseControl

void ROS2PoseControl::Activate()
{
auto registry = AZ::SettingsRegistry::Get();
AZ_Assert(registry, "ROS2PoseControl registry is not available.");
AZStd::string policy;
if (registry && registry->Get(policy, PoseRestorationPolicyKey))
{
m_configuration.m_initialPoseRestorationPolicy = ConvertStringToPolicy(policy);
}

InitializeROSConnection();
ImGui::ImGuiUpdateListenerBus::Handler::BusConnect();
ROS2PoseControlRequestsBus::Handler::BusConnect(GetEntityId());

AZ::TickBus::QueueFunction(
[this]()
{
Expand Down