perception_fake_capability.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_FAKE_COLLABORATION_DEPLOYMENT__PERCEPTION_FAKE_CAPABILITY_HPP_
#define EASYFLEET_FAKE_COLLABORATION_DEPLOYMENT__PERCEPTION_FAKE_CAPABILITY_HPP_
 
#include <random>
#include <string>
 
#include "easyfleet_interfaces/action/perception.hpp"
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_action/rclcpp_action.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "easyfleet_core/capability.hpp"
#include "easyfleet_core/perception_action_server_base.hpp"
 
namespace easyfleet_fake_collaboration_deployment
{


class PerceptionFakeActionServer : public easyfleet_core::PerceptionActionServerBase
{
public:
  PerceptionFakeActionServer(
    rclcpp_lifecycle::LifecycleNode & node,
    const std::string & action_name);
 
protected:
  rclcpp_action::GoalResponse on_goal_received(
    const rclcpp_action::GoalUUID & uuid,
    std::shared_ptr<const Goal> goal) override;

  void on_execute(const GoalHandleSharedPtr goal_handle) override;
 
private:
  Feedback make_random_detections();
 
  std::string target_class_;
  std::string frame_id_;
  double detection_rate_hz_;
 
  std::mt19937 random_engine_;
};

class PerceptionFakeCapability : public easyfleet_core::Capability<PerceptionFakeActionServer>
{
public:
  explicit PerceptionFakeCapability(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
};
 
}  // namespace easyfleet_fake_collaboration_deployment
 
#endif  // EASYFLEET_FAKE_COLLABORATION_DEPLOYMENT__PERCEPTION_FAKE_CAPABILITY_HPP_