charging_dock.hpp

// Copyright (c) 2024 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.
 
#ifndef OPENNAV_DOCKING_CORE__CHARGING_DOCK_HPP_
#define OPENNAV_DOCKING_CORE__CHARGING_DOCK_HPP_
 
#include <string>
#include <memory>
 
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "tf2_ros/buffer.h"
 
 
namespace opennav_docking_core
{
 
enum class DockDirection { UNKNOWN, FORWARD, BACKWARD };
 
class ChargingDock
{
public:
  using Ptr = std::shared_ptr<ChargingDock>;
 
  virtual ~ChargingDock() {}
 
  virtual void configure(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent,
    const std::string & name, std::shared_ptr<tf2_ros::Buffer> tf) = 0;
 
  virtual void cleanup() = 0;
 
  virtual void activate() = 0;
 
  virtual void deactivate() = 0;
 
  virtual geometry_msgs::msg::PoseStamped getStagingPose(
    const geometry_msgs::msg::Pose & pose, const std::string & frame) = 0;
 
  virtual bool getRefinedPose(geometry_msgs::msg::PoseStamped & pose, std::string id) = 0;
 
  virtual bool isDocked() = 0;
 
  virtual bool isCharging() = 0;
 
  virtual bool disableCharging() = 0;
 
  virtual bool hasStoppedCharging() = 0;
 
  virtual bool isCharger() {return true;}
 
  DockDirection getDockDirection() {return dock_direction_;}
 
  bool shouldRotateToDock() {return rotate_to_dock_;}
 
  std::string getName() {return name_;}
 
protected:
  std::string name_;
  DockDirection dock_direction_{DockDirection::UNKNOWN};
  bool rotate_to_dock_{false};
};
 
}  // namespace opennav_docking_core
 
#endif  // OPENNAV_DOCKING_CORE__CHARGING_DOCK_HPP_