routes_publisher.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_NAVIGATION_MANAGER__ROUTES_PUBLISHER_HPP_
#define EASYFLEET_NAVIGATION_MANAGER__ROUTES_PUBLISHER_HPP_
 
#include <memory>
#include <string>
 
#include "easynav_routes_maps_manager/msg/routes_map.hpp"
#include "easynav_routes_maps_manager/routes_map.hpp"
#include "interactive_markers/interactive_marker_server.hpp"
#include "rclcpp/rclcpp.hpp"
#include "visualization_msgs/msg/interactive_marker_feedback.hpp"
#include "visualization_msgs/msg/marker_array.hpp"
 
namespace easyfleet
{

class RoutesPublisher
{
public:
  void publish(rclcpp::Node & node);
 
private:
  void publish_routes_msg();

  void publish_routes_markers();

  void publish_interactive_markers();

  void handle_interactive_feedback(
    const visualization_msgs::msg::InteractiveMarkerFeedback::ConstSharedPtr & feedback);

  void recompute_next_route_id();

  void save_routes();
 
  rclcpp::Node * node_ {nullptr};
  std::string map_path_;
  easynav::RoutesMap routes_;
  int next_route_id_ {0};
 
  rclcpp::Publisher<easynav_routes_maps_manager::msg::RoutesMap>::SharedPtr pub_;
  rclcpp::Publisher<visualization_msgs::msg::MarkerArray>::SharedPtr markers_pub_;
  std::shared_ptr<interactive_markers::InteractiveMarkerServer> imarker_server_;
  rclcpp::TimerBase::SharedPtr markers_republish_timer_;
};
 
}  // namespace easyfleet
 
#endif  // EASYFLEET_NAVIGATION_MANAGER__ROUTES_PUBLISHER_HPP_