fleet_session.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_MISSION_MANAGER__FLEET_SESSION_HPP_
#define EASYFLEET_MISSION_MANAGER__FLEET_SESSION_HPP_
 
#include <chrono>
#include <functional>
#include <memory>
#include <optional>
#include <string>
#include <thread>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
 
#include "easyfleet_interfaces/msg/capability_status.hpp"
 
#include "easyfleet_mission_manager/robot_handle.hpp"
#include "easyfleet_mission_manager/status_markers.hpp"
 
namespace easyfleet
{


class FleetSession
{
public:
  FleetSession();
  ~FleetSession();

  void add_robot(RobotHandle & robot);

  const std::vector<std::reference_wrapper<RobotHandle>> & robots() const noexcept;

  std::optional<std::reference_wrapper<RobotHandle>> find_robot(
    const std::string & name) const noexcept;

  void discover_capabilities(std::chrono::milliseconds window = std::chrono::milliseconds(2500));

  void spin_some();

  void spin_for(std::chrono::milliseconds duration);

  rclcpp::Node::SharedPtr node() const noexcept;

  void shutdown();
 
private:
  friend class RobotHandle;

  easyfleet_mission_manager::StatusMarkerPublisher & status_marker_publisher();
 
  rclcpp::Node::SharedPtr node_;
  rclcpp::executors::SingleThreadedExecutor executor_;
  std::thread spin_thread_;
  std::vector<std::reference_wrapper<RobotHandle>> robots_;
  std::unique_ptr<easyfleet_mission_manager::StatusMarkerPublisher> status_;
  rclcpp::Subscription<easyfleet_interfaces::msg::CapabilityStatus>::SharedPtr
    capability_status_sub_;
};
 
}  // namespace easyfleet
 
// Out-of-line definition of RobotHandle::run_capability<ActionT>() -- see
// detail/robot_handle_impl.hpp's own comment for why it lives here rather
// than at the bottom of robot_handle.hpp.
#include "easyfleet_mission_manager/detail/robot_handle_impl.hpp"
 
#endif  // EASYFLEET_MISSION_MANAGER__FLEET_SESSION_HPP_