capability_factory.hpp

// Copyright 2026 Intelligent Robotics Lab
//
// This file is part of the project EasyFleet
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef EASYFLEET_CORE__CAPABILITY_FACTORY_HPP_
#define EASYFLEET_CORE__CAPABILITY_FACTORY_HPP_
 
#include <memory>
#include <string>
 
#include "rclcpp/node_options.hpp"
 
#include "easyfleet_core/capability.hpp"
#include "easyfleet_core/capability_node_base.hpp"
 
namespace easyfleet_core
{

class CapabilityFactory
{
public:
  using SharedPtr = std::shared_ptr<CapabilityFactory>;
 
  virtual ~CapabilityFactory() = default;

  virtual std::shared_ptr<CapabilityNodeBase> create(
    const std::string & capability_name,
    const rclcpp::NodeOptions & options) const = 0;
};

template<typename ActionServerT>
class CapabilityFactoryFor : public CapabilityFactory
{
public:
  std::shared_ptr<CapabilityNodeBase> create(
    const std::string & capability_name,
    const rclcpp::NodeOptions & options) const override
  {
    return std::make_shared<Capability<ActionServerT>>(capability_name, options);
  }
};
 
}  // namespace easyfleet_core
 
#endif  // EASYFLEET_CORE__CAPABILITY_FACTORY_HPP_