ControllerNode.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// 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 EASYNAV_CONTROLLER__CONTROLLERNODE_HPP_
#define EASYNAV_CONTROLLER__CONTROLLERNODE_HPP_
 
#include <memory>
#include <mutex>
#include <optional>
#include <set>
#include <string>
 
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
 
#include "easynav_controller/VelocityMux.hpp"
#include "easynav_controller/VelocitySmoother.hpp"
#include "easynav_controller/safety/CommandGuard.hpp"
#include "easynav_core/ControllerMethodBase.hpp"
#include "easynav_core/RobotLimits.hpp"
#include "easynav_core/SafetyChannel.hpp"
#include "easynav_core/PluginSwitcher.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
namespace easynav
{


class ControllerNode : public rclcpp_lifecycle::LifecycleNode, public RobotLimitsProvider
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(ControllerNode)
  using CallbackReturnT = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;

  explicit ControllerNode(
    const rclcpp::NodeOptions & options = rclcpp::NodeOptions());

  ~ControllerNode();

  CallbackReturnT on_configure(const rclcpp_lifecycle::State & state);

  CallbackReturnT on_activate(const rclcpp_lifecycle::State & state);

  CallbackReturnT on_deactivate(const rclcpp_lifecycle::State & state);

  CallbackReturnT on_cleanup(const rclcpp_lifecycle::State & state);

  CallbackReturnT on_shutdown(const rclcpp_lifecycle::State & state);

  CallbackReturnT on_error(const rclcpp_lifecycle::State & state);

  rclcpp::CallbackGroup::SharedPtr get_real_time_cbg();

  bool cycle_rt(std::shared_ptr<NavState> nav_state, bool trigger = false);

  std::string get_loaded_controller() const;

  void publish_cmd_vel_rt(std::shared_ptr<NavState> nav_state);

  RobotLimits get_robot_limits() const override;

  bool is_robot_limit_configured(const std::string & field) const override;

  void set_robot_limits(const RobotLimits & limits) override;
 
private:
  void read_parameters();

  void publish(const geometry_msgs::msg::TwistStamped & cmd);

  void stop_robot();

  bool check_cmd_timeout();

  void apply_safety_channel(const SafetyChannelState & state);
 
  RobotLimits robot_limits_;  
  SafetyChannelState safety_channel_;  
  std::set<std::string> configured_limits_;
  mutable std::mutex robot_limits_mutex_;
 
  bool use_cmd_vel_stamped_ {false};
  rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr vel_pub_stamped_;
  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub_;
 
  VelocityMux mux_;
  VelocitySmoother smoother_;
  safety::CommandGuard command_guard_;

  std::optional<rclcpp::Time> last_smoother_step_;

  bool last_published_zero_ {false};

  rclcpp::CallbackGroup::SharedPtr realtime_cbg_;

  PluginSwitcher<easynav::ControllerMethodBase> controller_;

  const std::shared_ptr<const NavState> nav_state_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_CONTROLLER__CONTROLLERNODE_HPP_