Program Listing for File dispenser_common.hpp

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/*
 * Copyright (C) 2020 Open Source Robotics Foundation
 *
 * 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 RMF_ROBOT_SIM_COMMON__DISPENSER_COMMON_HPP
#define RMF_ROBOT_SIM_COMMON__DISPENSER_COMMON_HPP

#include <string>
#include <unordered_map>

#include <rclcpp/rclcpp.hpp>

#include <rmf_fleet_msgs/msg/fleet_state.hpp>
#include <rmf_dispenser_msgs/msg/dispenser_state.hpp>
#include <rmf_dispenser_msgs/msg/dispenser_result.hpp>
#include <rmf_dispenser_msgs/msg/dispenser_request.hpp>

#include <rmf_robot_sim_common/utils.hpp>

namespace rmf_dispenser_common {

class TeleportDispenserCommon
{
public:
  using FleetState = rmf_fleet_msgs::msg::FleetState;
  using FleetStateIt =
    std::unordered_map<std::string, FleetState::UniquePtr>::iterator;
  using DispenserState = rmf_dispenser_msgs::msg::DispenserState;
  using DispenserRequest = rmf_dispenser_msgs::msg::DispenserRequest;
  using DispenserResult = rmf_dispenser_msgs::msg::DispenserResult;

  bool dispense = false;
  DispenserRequest latest; // Only store and act on last received request

  std::string guid; // Plugin name

  double last_pub_time = 0.0;
  double sim_time = 0.0;

  bool item_en_found = false; // True if entity to be dispensed has been determined. Used when locating item in future
  bool dispenser_filled = false;

  rclcpp::Node::SharedPtr ros_node;

  std::unordered_map<std::string, FleetState::UniquePtr> fleet_states;
  DispenserState current_state;

  void send_dispenser_response(uint8_t status) const;
  void fleet_state_cb(FleetState::UniquePtr msg);
  void dispenser_request_cb(DispenserRequest::UniquePtr msg);
  void on_update(
    std::function<void(FleetStateIt,
    std::vector<rmf_plugins_utils::SimEntity>&)> fill_robot_list_cb,
    std::function<rmf_plugins_utils::SimEntity(
      const std::vector<rmf_plugins_utils::SimEntity>&,
      bool&)> find_nearest_model_cb,
    std::function<void(const rmf_plugins_utils::SimEntity&)> place_on_entity_cb,
    std::function<bool(void)> check_filled_cb);
  void init_ros_node(const rclcpp::Node::SharedPtr node);

private:
  rclcpp::Subscription<FleetState>::SharedPtr _fleet_state_sub;
  rclcpp::Publisher<DispenserState>::SharedPtr _state_pub;
  rclcpp::Subscription<DispenserRequest>::SharedPtr _request_sub;
  rclcpp::Publisher<DispenserResult>::SharedPtr _result_pub;
  std::unordered_map<std::string, bool> _past_request_guids;

  void try_refill_dispenser(std::function<bool(void)> check_filled_cb);
  bool dispense_on_nearest_robot(
    std::function<void(FleetStateIt,
    std::vector<rmf_plugins_utils::SimEntity>&)> fill_robot_list_cb,
    std::function<rmf_plugins_utils::SimEntity(
      const std::vector<rmf_plugins_utils::SimEntity>&,
      bool&)> find_nearest_model_cb,
    std::function<void(const rmf_plugins_utils::SimEntity&)> place_on_entity_cb,
    const std::string& fleet_name);
};

} // namespace rmf_dispenser_common

#endif