GoalManager.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_SYSTEM__GOALMANAGER_HPP_
#define EASYNAV_SYSTEM__GOALMANAGER_HPP_
 
#include <atomic>
#include <memory>
#include <string>
 
#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 {10000.0};
    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_;}

  [[nodiscard]] inline bool is_paused() const {return paused_;}

  void set_finished();

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

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

  void set_progress_held(bool held);

  [[nodiscard]] bool is_progress_held() const {return progress_held_;}

  void update(NavState & nav_state);

  void read_parameters(NavState & nav_state);

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

  std::weak_ptr<rclcpp_lifecycle::LifecycleNode> 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_;

  double update_frequency_ {20.0};

  rclcpp::Duration update_period_ {0, 0};

  rclcpp::Time last_update_time_;

  bool first_update_ {true};

  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};

  bool paused_ {false};

  std::atomic<bool> progress_held_ {false};

  State last_synced_navigation_state_ {State::IDLE};

  bool last_synced_paused_ {false};

  bool goals_synced_empty_ {true};

  easynav_interfaces::msg::GoalManagerInfo info_;

  bool info_final_pending_ {false};

  void publish_final_info();
};
 
}  // namespace easynav
 
#endif  // EASYNAV_SYSTEM__GOALMANAGER_HPP_