capability_node_base.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_NODE_BASE_HPP_
#define EASYFLEET_CORE__CAPABILITY_NODE_BASE_HPP_
 
#include <memory>
#include <string>
 
#include "rclcpp/node_interfaces/node_base_interface.hpp"
#include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
namespace easyfleet_core
{

class CapabilityNodeBase
{
public:
  using SharedPtr = std::shared_ptr<CapabilityNodeBase>;
  using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
 
  virtual ~CapabilityNodeBase() = default;
 
  // Named *_node() rather than plain configure()/activate()/etc.: those
  // names are already taken, with different signatures, by
  // rclcpp_lifecycle::LifecycleNode itself (which Capability<ActionServerT>
  // also derives from). Reusing them here would silently *hide* (not
  // override) LifecycleNode's own overloads for any code holding a
  // Capability<T>* directly -- including the one-arg configure(CallbackReturn&)
  // overload existing code (test_capability.cpp) already calls -- breaking
  // it. Distinct names sidestep that entirely.
  virtual CallbackReturn configure_node() = 0;
  virtual CallbackReturn activate_node() = 0;
  virtual CallbackReturn deactivate_node() = 0;
  virtual CallbackReturn cleanup_node() = 0;
  virtual CallbackReturn shutdown_node() = 0;
  virtual uint8_t get_current_state_id() const = 0;

  virtual rclcpp::node_interfaces::NodeBaseInterface::SharedPtr get_node_base_interface() = 0;

  virtual const std::string & get_capability_name() const = 0;
  virtual const std::string & get_robot_name() const = 0;
};
 
}  // namespace easyfleet_core
 
#endif  // EASYFLEET_CORE__CAPABILITY_NODE_BASE_HPP_