IMUPerception.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_SENSORS__TYPES__IMUPERCEPTION_HPP_
#define EASYNAV_SENSORS__TYPES__IMUPERCEPTION_HPP_
 
#include <mutex>
#include <string>
#include <vector>
#include <memory>
 
#include "sensor_msgs/msg/imu.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "easynav_sensors/types/Perceptions.hpp"
 
namespace easynav
{

class IMUPerception : public PerceptionBase
{
public:
  static constexpr std::string_view default_group_ = "imu";

  static inline bool supports_msg_type(std::string_view t)
  {
    return t == "sensor_msgs/msg/Imu";
  }
 
  IMUPerception()
  {
    [[maybe_unused]] static const bool _ = [] {
        ::easynav::NavState::register_printer<IMUPerception>(
          [](const IMUPerception & perception) {
            std::ostringstream ret;
            ret << "{ " << perception.stamp.seconds()
                << " } IMUPerception linear acc = ("
                << perception.data.linear_acceleration.x << ", "
                << perception.data.linear_acceleration.y << ", "
                << perception.data.linear_acceleration.z
                << ") in frame [" << perception.frame_id
                << "] with ts " << perception.stamp.seconds() << "\n";
            return ret.str();
          });
        return true;
      }();
  }
 
  IMUPerception(const IMUPerception & other)
  {
    std::lock_guard<std::mutex> lock(other.mutex_);
    stamp = other.stamp;
    frame_id = other.frame_id;
    valid = other.valid;
    new_data = other.new_data;
    data = other.data;
  }
 
  IMUPerception & operator=(const IMUPerception & other)
  {
    if (this == &other) {
      return *this;
    }
 
    std::scoped_lock lock(mutex_, other.mutex_);
    stamp = other.stamp;
    frame_id = other.frame_id;
    valid = other.valid;
    new_data = other.new_data;
    data = other.data;
 
    return *this;
  }

  sensor_msgs::msg::Imu data;

  void set_data(
    const sensor_msgs::msg::Imu & msg, const rclcpp::Time & msg_stamp,
    const std::string & msg_frame_id)
  {
    std::lock_guard<std::mutex> lock(mutex_);
    stamp = msg_stamp;
    frame_id = msg_frame_id;
    new_data = true;
    data = msg;
    valid = true;
  }

  bool consume_new_data()
  {
    std::lock_guard<std::mutex> lock(mutex_);
    const bool had_new_data = new_data;
    new_data = false;
    return had_new_data;
  }
 
protected:
  mutable std::mutex mutex_;
};

class IMUPerceptionHandler : public PerceptionHandler
{
public:
  void on_initialize() override;

  bool cycle_rt([[maybe_unused]] std::shared_ptr<NavState> nav_state) override;

  std::shared_ptr<PerceptionBase> get_perception() const override {return perception_data_;}
 
private:
  std::shared_ptr<IMUPerception> perception_data_ {nullptr};

  rclcpp::SubscriptionBase::SharedPtr perception_sub_;
};

using IMUPerceptions =
  std::vector<std::shared_ptr<IMUPerception>>;

rclcpp::Time get_latest_imu_perceptions_stamp(const IMUPerceptions & perceptions);
 
}  // namespace easynav
 
#endif  // EASYNAV_SENSORS__TYPES__IMUPERCEPTION_HPP_