SensorsNode.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_SENSORS__SENSORNODE_HPP_
#define EASYNAV_SENSORS__SENSORNODE_HPP_
 
#include <unordered_map>
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "sensor_msgs/msg/point_cloud2.hpp"
 
#include "easynav_common/types/Perceptions.hpp"
#include "easynav_common/types/NavState.hpp"
 
namespace easynav
{

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

  using SensorsHandlerFn = void(*)(
    const std::string & group,
    const std::vector<easynav::PerceptionPtr> & perceptions,
    ::easynav::NavState & ns
  );

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

  ~SensorsNode();

  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);

  void cycle(std::shared_ptr<NavState> nav_state);
 
  void register_handler(std::shared_ptr<PerceptionHandler> handler);
 
private:
  rclcpp::CallbackGroup::SharedPtr realtime_cbg_;

  rclcpp_lifecycle::LifecyclePublisher<sensor_msgs::msg::PointCloud2>::SharedPtr percept_pub_;

  sensor_msgs::msg::PointCloud2 perecption_msg_;

  double forget_time_;

  std::string tf_prefix_;

  std::shared_ptr<NavState> nav_state_;
 
  std::map<std::string, std::vector<PerceptionPtr>> perceptions_;
  std::map<std::string, std::shared_ptr<PerceptionHandler>> handlers_;

  std::unordered_map<std::string, SensorsHandlerFn> group_to_handler_;

  bool set_by_group(
    const std::string & group,
    const std::vector<PerceptionPtr> & perceptions,
    ::easynav::NavState & ns
  );

  template<std::size_t I = 0>
  void populate_group_to_handler_map();
};
 
}  // namespace easynav
 
#endif  // EASYNAV_SENSORS__SENSORNODE_HPP_