ControllerNode.hpp

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// Copyright 2025 Intelligent Robotics Lab
//
// This file is part of the project Easy Navigation (EasyNav in short)
// licensed under the GNU General Public License v3.0.
// See <http://www.gnu.org/licenses/> for details.
//
// Easy Navigation program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program. If not, see <http://www.gnu.org/licenses/>.

 
#ifndef EASYNAV_CONTROLLER__CONTROLLERNODE_HPP_
#define EASYNAV_CONTROLLER__CONTROLLERNODE_HPP_
 
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "easynav_core/ControllerMethodBase.hpp"
#include "pluginlib/class_loader.hpp"
 
namespace easynav
{


 
class ControllerNode : public rclcpp_lifecycle::LifecycleNode
{
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);
 
private:
  rclcpp::CallbackGroup::SharedPtr realtime_cbg_;

  std::shared_ptr<ControllerMethodBase> controller_method_ {nullptr};

  const std::shared_ptr<const NavState> nav_state_;

  std::unique_ptr<pluginlib::ClassLoader<easynav::ControllerMethodBase>> controller_loader_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_CONTROLLER__CONTROLLERNODE_HPP_