deployment.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__DEPLOYMENT_HPP_
#define EASYFLEET_CORE__DEPLOYMENT_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "pluginlib/class_loader.hpp"
#include "rclcpp/executors/single_threaded_executor.hpp"
#include "rclcpp/node.hpp"
#include "rclcpp/node_options.hpp"
 
#include "easyfleet_core/capability_factory.hpp"
#include "easyfleet_core/capability_node_base.hpp"
 
namespace easyfleet
{


class Deployment
{
public:
  Deployment();

  explicit Deployment(std::string name);

  const std::string & name() const noexcept;


  void add_capability(
    const std::string & plugin_lookup_name,
    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  const std::vector<easyfleet_core::CapabilityNodeBase::SharedPtr> & capabilities() const noexcept;


  void add_capabilities_from_parameters(const std::string & package_name);


  void start();

  void run();

  void shutdown();
 
private:
  std::string name_;
  std::vector<easyfleet_core::CapabilityNodeBase::SharedPtr> capabilities_;

  std::unique_ptr<pluginlib::ClassLoader<easyfleet_core::CapabilityFactory>> loader_;
 
  rclcpp::executors::SingleThreadedExecutor executor_;

  rclcpp::Node::SharedPtr config_node();
  rclcpp::Node::SharedPtr config_node_;
};
 
}  // namespace easyfleet
 
#endif  // EASYFLEET_CORE__DEPLOYMENT_HPP_