VelocityMux.hpp

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// Copyright 2026 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_CONTROLLER__VELOCITYMUX_HPP_
#define EASYNAV_CONTROLLER__VELOCITYMUX_HPP_
 
#include "geometry_msgs/msg/twist_stamped.hpp"
 
#include "easynav_common/types/NavState.hpp"
#include "easynav_core/SafetyChannel.hpp"
#include "easynav_core/VelocityCommand.hpp"
 
namespace easynav
{

class VelocityMux
{
public:
  enum class Choice {NONE, CONTROLLER, PAUSED, TAKEOVER, OVERRIDE, SAFETY_STOP, INHIBITED};

  struct Selection
  {
    geometry_msgs::msg::TwistStamped cmd;  
    Choice choice {Choice::NONE};          
    bool fresh {false};                    
    bool smooth {true};                    
  };

  Selection select(NavState & nav_state);

  void reset()
  {
    last_target_ = geometry_msgs::msg::TwistStamped();
    last_choice_ = Choice::NONE;
  }
 
private:
  geometry_msgs::msg::TwistStamped last_target_;
  Choice last_choice_ {Choice::NONE};
};
 
}  // namespace easynav
 
#endif  // EASYNAV_CONTROLLER__VELOCITYMUX_HPP_