dock_database.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__DOCK_DATABASE_HPP_
#define OPENNAV_DOCKING__DOCK_DATABASE_HPP_
 
#include <vector>
#include <memory>
#include <string>
#include <mutex>
 
#include "rclcpp/rclcpp.hpp"
#include "pluginlib/class_loader.hpp"
#include "pluginlib/class_list_macros.hpp"
#include "nav2_util/service_server.hpp"
#include "nav2_util/lifecycle_node.hpp"
#include "nav2_util/node_utils.hpp"
#include "nav2_util/simple_action_server.hpp"
#include "opennav_docking/utils.hpp"
#include "opennav_docking/types.hpp"
#include "nav2_msgs/srv/reload_dock_database.hpp"
 
namespace opennav_docking
{
class DockDatabase
{
public:
  explicit DockDatabase(std::shared_ptr<std::mutex> mutex = std::make_shared<std::mutex>());
 
  bool initialize(
    const rclcpp_lifecycle::LifecycleNode::WeakPtr & parent, std::shared_ptr<tf2_ros::Buffer> tf);
 
  ~DockDatabase();
 
  void activate();
 
  void deactivate();
 
  Dock * findDock(const std::string & dock_id);
 
  ChargingDock::Ptr findDockPlugin(const std::string & type);
 
  unsigned int instance_size() const;
 
  unsigned int plugin_size() const;
 
protected:
  bool getDockPlugins(
    const rclcpp_lifecycle::LifecycleNode::SharedPtr & node, std::shared_ptr<tf2_ros::Buffer> tf);
 
  bool getDockInstances(const rclcpp_lifecycle::LifecycleNode::SharedPtr & node);
 
  Dock * findDockInstance(const std::string & dock_id);
 
  void reloadDbCb(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<nav2_msgs::srv::ReloadDockDatabase::Request> request,
    std::shared_ptr<nav2_msgs::srv::ReloadDockDatabase::Response> response);
 
  rclcpp_lifecycle::LifecycleNode::WeakPtr node_;
  std::shared_ptr<std::mutex> mutex_;  // Don't reload database while actively docking
  DockPluginMap dock_plugins_;
  DockMap dock_instances_;
  pluginlib::ClassLoader<opennav_docking_core::ChargingDock> dock_loader_;
  nav2_util::ServiceServer<nav2_msgs::srv::ReloadDockDatabase,
    std::shared_ptr<rclcpp_lifecycle::LifecycleNode>>::SharedPtr reload_db_service_;
};
 
}  // namespace opennav_docking
 
#endif  // OPENNAV_DOCKING__DOCK_DATABASE_HPP_