GoalManager.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_SYSTEM__GOALMANAGER_HPP_
#define EASYNAV_SYSTEM__GOALMANAGER_HPP_
 
#include "rclcpp/subscription.hpp"
#include "rclcpp/publisher.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "easynav_interfaces/msg/navigation_control.hpp"
#include "easynav_interfaces/msg/goal_manager_info.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav_msgs/msg/goals.hpp"
 
#include "easynav_common/types/NavState.hpp"
 
namespace easynav
{

class GoalManager
{
public:
  RCLCPP_SMART_PTR_DEFINITIONS(GoalManager)
 
  
  enum class State
  {
    IDLE,   
    ACTIVE  
  };

  struct GoalTolerance
  {
    double position {0.03};
    double height {std::numeric_limits<double>::max()};
    double yaw {0.01};
  };

  GoalManager(
    NavState & nav_state,
    rclcpp_lifecycle::LifecycleNode::SharedPtr parent_node);

  [[nodiscard]] inline nav_msgs::msg::Goals get_goals() const {return goals_;}

  [[nodiscard]] inline State get_state() const {return state_;}

  void set_finished();

  void set_failed(const std::string & reason);

  void set_error(const std::string & reason);

  void update(NavState & nav_state);

  void check_goals(
    const geometry_msgs::msg::Pose & current_pose,
    const GoalTolerance & goal_tolerance
  );
 
private:
  rclcpp_lifecycle::LifecycleNode::SharedPtr parent_node_;

  GoalTolerance goal_tolerance_ {};

  nav_msgs::msg::Goals goals_;

  rclcpp::Publisher<easynav_interfaces::msg::NavigationControl>::SharedPtr control_pub_;

  rclcpp::Subscription<easynav_interfaces::msg::NavigationControl>::SharedPtr control_sub_;

  rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr comanded_pose_sub_;

  rclcpp::Publisher<easynav_interfaces::msg::GoalManagerInfo>::SharedPtr info_pub_;

  easynav_interfaces::msg::NavigationControl::UniquePtr last_control_;

  std::string id_;

  std::string current_client_id_;

  bool allow_preempt_goal_ {true};

  rclcpp::Time nav_start_time_;

  void accept_request(
    const easynav_interfaces::msg::NavigationControl & msg,
    easynav_interfaces::msg::NavigationControl & response);

  void control_callback(easynav_interfaces::msg::NavigationControl::UniquePtr msg);

  void comanded_pose_callback(geometry_msgs::msg::PoseStamped::UniquePtr msg);

  void set_preempted();

  State state_ {State::IDLE};
};
 
}  // namespace easynav
 
#endif  // EASYNAV_SYSTEM__GOALMANAGER_HPP_