simple_controller.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__SIMPLE_CONTROLLER_HPP_
#define EASYFLEET_MISSION_MANAGER__SIMPLE_CONTROLLER_HPP_
 
#include <chrono>
#include <functional>
#include <memory>
#include <optional>
#include <string>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
 
#include "easyfleet_mission_manager/fleet_session.hpp"
#include "easyfleet_mission_manager/robot_handle.hpp"
 
namespace easyfleet
{


class SimpleController
{
public:
  SimpleController() = default;

  void add_robot(RobotHandle & robot) {session_.add_robot(robot);}

  const std::vector<std::reference_wrapper<RobotHandle>> & robots() const noexcept
  {
    return session_.robots();
  }

  std::optional<std::reference_wrapper<RobotHandle>> find_robot(
    const std::string & name) const noexcept
  {
    return session_.find_robot(name);
  }

  void discover_capabilities(std::chrono::milliseconds window = std::chrono::milliseconds(2500))
  {
    session_.discover_capabilities(window);
  }

  void spin_some() {session_.spin_some();}

  void spin_for(std::chrono::milliseconds duration) {session_.spin_for(duration);}

  rclcpp::Node::SharedPtr node() const noexcept {return session_.node();}

  void shutdown() {session_.shutdown();}
 
private:
  FleetSession session_;
};
 
}  // namespace easyfleet
 
#endif  // EASYFLEET_MISSION_MANAGER__SIMPLE_CONTROLLER_HPP_