PlannerNode.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_PLANNER__PLANNERNODE_HPP_
#define EASYNAV_PLANNER__PLANNERNODE_HPP_
 
#include <optional>
#include <memory>
 
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "easynav_core/PlannerMethodBase.hpp"
#include "easynav_core/PluginSwitcher.hpp"
#include "nav_msgs/msg/path.hpp"
#include "easynav_common/types/NavState.hpp"
 
namespace easynav
{

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

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

  ~PlannerNode();

  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);

  [[nodiscard]] nav_msgs::msg::Path get_path() const;

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

  const rclcpp::Time get_last_rt_execution_ts() const;

  const rclcpp::Time get_last_execution_ts() const;
 
private:
  void check_path(NavState & nav_state);

  std::optional<bool> last_path_finite_;

  PluginSwitcher<PlannerMethodBase> planner_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_PLANNER__PLANNERNODE_HPP_