mesh_navigation_server.h

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/*
 *  Copyright 2020, Sebastian Pütz
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *
 *  3. Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *
 */
 
#ifndef MBF_MESH_NAV__MESH_NAVIGATION_SERVER_H
#define MBF_MESH_NAV__MESH_NAVIGATION_SERVER_H
 
#include <mbf_abstract_nav/abstract_navigation_server.h>
 
#include "mesh_controller_execution.h"
#include "mesh_planner_execution.h"
#include "mesh_recovery_execution.h"
 
#include <mbf_mesh_nav/MoveBaseFlexConfig.h>
#include <mbf_msgs/CheckPath.h>
#include <mbf_msgs/CheckPose.h>
#include <std_srvs/Empty.h>
 
#include <pluginlib/class_loader.h>
 
namespace mbf_mesh_nav
{
typedef boost::shared_ptr<dynamic_reconfigure::Server<mbf_mesh_nav::MoveBaseFlexConfig>>
    DynamicReconfigureServerMeshNav;
 
class MeshNavigationServer : public mbf_abstract_nav::AbstractNavigationServer
{
public:
  typedef boost::shared_ptr<mesh_map::MeshMap> MeshPtr;
 
  typedef boost::shared_ptr<MeshNavigationServer> Ptr;
 
  MeshNavigationServer(const TFPtr& tf_listener_ptr);
 
  virtual ~MeshNavigationServer();
 
  virtual void stop();
 
private:
  virtual mbf_abstract_nav::AbstractPlannerExecution::Ptr
  newPlannerExecution(const std::string &plugin_name, const mbf_abstract_core::AbstractPlanner::Ptr plugin_ptr);
 
  virtual mbf_abstract_nav::AbstractControllerExecution::Ptr
  newControllerExecution(const std::string &plugin_name, const mbf_abstract_core::AbstractController::Ptr plugin_ptr);
 
  virtual mbf_abstract_nav::AbstractRecoveryExecution::Ptr
  newRecoveryExecution(const std::string &plugin_name, const mbf_abstract_core::AbstractRecovery::Ptr plugin_ptr);
 
  virtual mbf_abstract_core::AbstractPlanner::Ptr loadPlannerPlugin(const std::string& planner_type);
 
  virtual bool initializePlannerPlugin(const std::string& name,
                                       const mbf_abstract_core::AbstractPlanner::Ptr& planner_ptr);
 
  virtual mbf_abstract_core::AbstractController::Ptr loadControllerPlugin(const std::string& controller_type);
 
  virtual bool initializeControllerPlugin(const std::string& name,
                                          const mbf_abstract_core::AbstractController::Ptr& controller_ptr);
 
  virtual mbf_abstract_core::AbstractRecovery::Ptr loadRecoveryPlugin(const std::string& recovery_type);
 
  virtual bool initializeRecoveryPlugin(const std::string& name,
                                        const mbf_abstract_core::AbstractRecovery::Ptr& behavior_ptr);
 
  bool callServiceCheckPoseCost(mbf_msgs::CheckPose::Request& request, mbf_msgs::CheckPose::Response& response);
 
  bool callServiceCheckPathCost(mbf_msgs::CheckPath::Request& request, mbf_msgs::CheckPath::Response& response);
 
  bool callServiceClearMesh(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response);
 
  void reconfigure(mbf_mesh_nav::MoveBaseFlexConfig& config, uint32_t level);
 
  pluginlib::ClassLoader<mbf_mesh_core::MeshRecovery> recovery_plugin_loader_;
 
  pluginlib::ClassLoader<mbf_mesh_core::MeshController> controller_plugin_loader_;
 
  pluginlib::ClassLoader<mbf_mesh_core::MeshPlanner> planner_plugin_loader_;
 
  DynamicReconfigureServerMeshNav dsrv_mesh_;
 
  mbf_mesh_nav::MoveBaseFlexConfig last_config_;
 
  mbf_mesh_nav::MoveBaseFlexConfig default_config_;
 
  bool setup_reconfigure_;
 
  MeshPtr mesh_ptr_;
 
  ros::ServiceServer clear_mesh_srv_;
 
  ros::ServiceServer check_pose_cost_srv_;
 
  ros::ServiceServer check_path_cost_srv_;
 
  boost::mutex check_meshs_mutex_;
};
 
} /* namespace mbf_mesh_nav */
 
#endif /* MBF_MESH_NAV__MESH_NAVIGATION_SERVER_H */