operations_manager.hpp

// Copyright (c) 2025 Open Navigation LLC
//
// 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.
 
#include <unordered_map>
#include <vector>
#include <memory>
#include <string>
 
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_core/route_exceptions.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_route/types.hpp"
#include "nav2_route/utils.hpp"
#include "nav2_route/interfaces/route_operation.hpp"
 
#ifndef NAV2_ROUTE__OPERATIONS_MANAGER_HPP_
#define NAV2_ROUTE__OPERATIONS_MANAGER_HPP_
 
namespace nav2_route
{
 
class OperationsManager
{
public:
  typedef std::vector<RouteOperation::Ptr>::const_iterator OperationsIter;
 
  explicit OperationsManager(
    rclcpp_lifecycle::LifecycleNode::SharedPtr node,
    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber);
 
  ~OperationsManager() = default;
 
  OperationPtrs findGraphOperations(
    const NodePtr node, const EdgePtr edge_enter, const EdgePtr edge_exit);
 
  template<typename T>
  void findGraphOperationsToProcess(
    T & obj,
    const OperationTrigger & trigger,
    OperationPtrs & operations);
 
  void updateResult(
    const std::string & name, const OperationResult & op_result, OperationsResult & result);
 
  OperationsResult process(
    const bool status_change,
    const RouteTrackingState & state,
    const Route & route,
    const geometry_msgs::msg::PoseStamped & pose,
    const ReroutingState & rerouting_info);
 
protected:
  void processOperationsPluginVector(
    const std::vector<RouteOperation::Ptr> & operations, OperationsResult & result,
    const NodePtr node,
    const EdgePtr edge_entered,
    const EdgePtr edge_exited,
    const Route & route,
    const geometry_msgs::msg::PoseStamped & pose);
 
  pluginlib::ClassLoader<RouteOperation> plugin_loader_;
  std::unordered_map<std::string, RouteOperation::Ptr> graph_operations_;
  std::vector<RouteOperation::Ptr> change_operations_;
  std::vector<RouteOperation::Ptr> query_operations_;
  rclcpp::Logger logger_{rclcpp::get_logger("OperationsManager")};
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__OPERATIONS_MANAGER_HPP_