SystemNode.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_SYSTEM__SYSTEMNODE_HPP_
#define EASYNAV_SYSTEM__SYSTEMNODE_HPP_
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp/macros.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
 
#include "geometry_msgs/msg/twist.hpp"
#include "geometry_msgs/msg/twist_stamped.hpp"
#include "std_msgs/msg/string.hpp"
 
#include "easynav_common/types/NavState.hpp"
#include "easynav_controller/ControllerNode.hpp"
#include "easynav_localizer/LocalizerNode.hpp"
#include "easynav_maps_manager/MapsManagerNode.hpp"
#include "easynav_planner/PlannerNode.hpp"
#include "easynav_sensors/SensorsNode.hpp"
#include "easynav_system/GoalManager.hpp"
 
namespace easynav
{

struct SystemNodeInfo
{
  rclcpp_lifecycle::LifecycleNode::SharedPtr node_ptr; 
  rclcpp::CallbackGroup::SharedPtr realtime_cbg;       
};

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

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

  ~SystemNode();

  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();

  std::map<std::string, SystemNodeInfo> get_system_nodes();

  void system_cycle_rt();

  void system_cycle();
 
private:
  rclcpp::CallbackGroup::SharedPtr realtime_cbg_;

  ControllerNode::SharedPtr controller_node_;

  LocalizerNode::SharedPtr localizer_node_;

  MapsManagerNode::SharedPtr maps_manager_node_;

  PlannerNode::SharedPtr planner_node_;

  SensorsNode::SharedPtr sensors_node_;

  std::shared_ptr<NavState> nav_state_;

  GoalManager::SharedPtr goal_manager_;

  bool use_cmd_vel_stamped_ {false};

  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr navstate_pub_;

  rclcpp::Publisher<geometry_msgs::msg::TwistStamped>::SharedPtr vel_pub_stamped_;

  rclcpp::Publisher<geometry_msgs::msg::Twist>::SharedPtr vel_pub_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_SYSTEM__SYSTEMNODE_HPP_