SensorsNode.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__SENSORSNODE_HPP_
#define EASYNAV_SENSORS__SENSORSNODE_HPP_
 
#include <mutex>
#include <unordered_map>
#include <vector>
#include <map>
#include <memory>
#include <string>
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "sensor_msgs/msg/point_cloud2.hpp"
#include "easynav_sensors/types/Perceptions.hpp"
#include "easynav_common/types/NavState.hpp"
#include "pluginlib/class_loader.hpp"
 
namespace easynav
{

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

  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);
 
protected:
  std::map<std::string, std::vector<std::string>> groups_;

  std::unique_ptr<pluginlib::ClassLoader<PerceptionHandler>> handler_loader_;

  std::vector<std::shared_ptr<PerceptionHandler>> handler_list_;

  std::mutex handler_list_mutex_;
 
private:
  void release_handlers();

  enum class DataState : uint8_t {FRESH, NO_DATA, STALE};

  void check_data_age(
    const std::vector<std::shared_ptr<PerceptionHandler>> & handlers, NavState & nav_state);

  void report_data_age(
    const std::vector<std::shared_ptr<PerceptionHandler>> & handlers, NavState & nav_state);

  std::vector<DataState> data_states_;
  bool data_age_reported_ {false};

  rclcpp::CallbackGroup::SharedPtr realtime_cbg_;

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

  sensor_msgs::msg::PointCloud2 perecption_msg_;

  double forget_time_ {1.0};

  std::string tf_prefix_;

  bool groups_initialized = false;

  std::unordered_map<std::string, std::string> type_to_plugin_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_SENSORS__SENSORSNODE_HPP_