Program Listing for File PlannerNode.hpp

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// Copyright 2019 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 PLANSYS2_PLANNER__PLANNERNODE_HPP_
#define PLANSYS2_PLANNER__PLANNERNODE_HPP_

#include <memory>
#include <unordered_map>
#include <string>
#include <vector>

#include "plansys2_domain_expert/DomainExpertClient.hpp"
#include "plansys2_problem_expert/ProblemExpertClient.hpp"

#include "plansys2_core/PlanSolverBase.hpp"

#include "std_msgs/msg/empty.hpp"
#include "lifecycle_msgs/msg/state.hpp"
#include "lifecycle_msgs/msg/transition.hpp"
#include "plansys2_msgs/srv/get_plan.hpp"

#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"

#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"

namespace plansys2
{

class PlannerNode : public rclcpp_lifecycle::LifecycleNode
{
public:
  PlannerNode();

  using CallbackReturnT =
    rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;

  using SolverMap = std::unordered_map<std::string, plansys2::PlanSolverBase::Ptr>;

  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);

  void get_plan_service_callback(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<plansys2_msgs::srv::GetPlan::Request> request,
    const std::shared_ptr<plansys2_msgs::srv::GetPlan::Response> response);

private:
  pluginlib::ClassLoader<plansys2::PlanSolverBase> lp_loader_;
  SolverMap solvers_;
  std::vector<std::string> default_ids_;
  std::vector<std::string> default_types_;
  std::vector<std::string> solver_ids_;
  std::vector<std::string> solver_types_;

  rclcpp::Service<plansys2_msgs::srv::GetPlan>::SharedPtr
    get_plan_service_;
};

template<typename NodeT>
void declare_parameter_if_not_declared(
  NodeT node,
  const std::string & param_name,
  const rclcpp::ParameterValue & default_value = rclcpp::ParameterValue(),
  const rcl_interfaces::msg::ParameterDescriptor & parameter_descriptor =
  rcl_interfaces::msg::ParameterDescriptor())
{
  if (!node->has_parameter(param_name)) {
    node->declare_parameter(param_name, default_value, parameter_descriptor);
  }
}

template<typename NodeT>
std::string get_plugin_type_param(
  NodeT node,
  const std::string & plugin_name)
{
  declare_parameter_if_not_declared(node, plugin_name + ".plugin", rclcpp::ParameterValue(""));
  std::string plugin_type;
  if (!node->get_parameter(plugin_name + ".plugin", plugin_type)) {
    RCLCPP_FATAL(node->get_logger(), "'plugin' param not defined for %s", plugin_name.c_str());
    exit(-1);
  }
  return plugin_type;
}

}  // namespace plansys2

#endif  // PLANSYS2_PLANNER__PLANNERNODE_HPP_