SystemNode.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_SYSTEM__SYSTEMNODE_HPP_
#define EASYNAV_SYSTEM__SYSTEMNODE_HPP_
 
#include <atomic>
#include <chrono>
#include <map>
#include <mutex>
#include <optional>
#include <string>
#include <vector>
#include <memory>
 
#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_core/SystemActions.hpp"
#include "easynav_localizer/LocalizerNode.hpp"
#include "easynav_maps_manager/MapsManagerNode.hpp"
#include "easynav_planner/PlannerNode.hpp"
#include "easynav_recovery/RecoveryManagerNode.hpp"
#include "easynav_sensors/SensorsNode.hpp"
#include "easynav_system/GoalManager.hpp"
#include "easynav_system/safety/SafetySupervisor.hpp"
 
namespace easynav
{

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

class SystemNode : public rclcpp_lifecycle::LifecycleNode, public SystemActions
{
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();

  [[nodiscard]] std::shared_ptr<NavState> get_nav_state() const {return nav_state_;}

  [[nodiscard]] std::vector<std::string> get_nodes_without_clock();

  static constexpr std::chrono::seconds kClockCheckPeriod {5};

  [[nodiscard]] bool is_shutdown_requested() const {return shutdown_requested_;}

  [[nodiscard]] std::string get_shutdown_reason() const;

  void abort_mission(const std::string & reason) override;

  void hold_mission_progress(bool hold) override;

  void request_shutdown(const std::string & reason) override;

  bool request_reconfigure(
    const std::vector<ParameterChange> & changes, const std::string & reason) override;

  bool request_restore_parameters(const std::string & reason) override;

  [[nodiscard]] const safety::SafetySupervisor & get_safety() const {return safety_;}

  [[nodiscard]] std::string get_configuration_dump();

  bool apply_pending_reconfigure();

  [[nodiscard]] bool is_reconfigure_pending() const;
 
private:
  void clear_cmd_vel();

  void forward_deprecated_use_cmd_vel_stamped();

  void configure_robot_geometry();

  bool check_system_parameters();

  bool check_component_frequencies();

  void cleanup_subnodes();

  std::map<std::string, rclcpp_lifecycle::LifecycleNode::SharedPtr> get_all_nodes();

  void check_clocks();

  std::chrono::steady_clock::time_point activated_at_;
  std::chrono::steady_clock::time_point next_clock_check_;

  safety::SafetySupervisor safety_;

  std::mutex rt_mutex_;

  bool active_ {false};

  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_;

  RecoveryManagerNode::SharedPtr recovery_node_;

  std::atomic<bool> shutdown_requested_ {false};
  std::string shutdown_reason_;
  mutable std::mutex shutdown_reason_mutex_;

  struct ReconfigureRequest
  {
    std::vector<ParameterChange> changes;
    bool restore {false};
    std::string reason;
  };
  std::optional<ReconfigureRequest> pending_reconfigure_;
  mutable std::mutex reconfigure_mutex_;

  std::map<std::string, ParameterChange> original_parameters_;

  rclcpp_lifecycle::LifecycleNode::SharedPtr find_node(const std::string & name);

  bool restart_with(const std::vector<ParameterChange> & changes);

  std::shared_ptr<NavState> nav_state_;

  GoalManager::SharedPtr goal_manager_;
 

  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr navstate_pub_;
};
 
}  // namespace easynav
 
#endif  // EASYNAV_SYSTEM__SYSTEMNODE_HPP_