Global Waypoint Cache

[hhenry01]

Purpose

Load last known global waypoints on start.

Description

• Depends on Receive Global Path Flow #270
• When we receive global waypoints, save the the data to a file global_waypoint_cache before de-serializing. If a file already exists, do not overwrite it immediately as we may lose power during an overwrite. If the file exists, then:
  1. Create a new file global_waypoint_cache_temp
  2. Write new global waypoint data to global_waypoint_cache_temp
  3. Move global_waypoint_cache_temp to global_waypoint_cache, overwriting it.
• On startup, check if a global waypoints file exists. If it does, read it, de-serialize it, and immediately publish it to ROS.

Resources

• https://en.cppreference.com/w/cpp/filesystem/rename