route_operation.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.
 
#ifndef NAV2_ROUTE__INTERFACES__ROUTE_OPERATION_HPP_
#define NAV2_ROUTE__INTERFACES__ROUTE_OPERATION_HPP_
 
#include <memory>
#include <string>
#include <vector>
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "pluginlib/class_loader.hpp"
#include "nav2_route/types.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "nav2_costmap_2d/costmap_subscriber.hpp"
 
namespace nav2_route
{
 
struct OperationResult
{
  bool reroute{false};
  std::vector<unsigned int> blocked_ids;
};
 
enum class RouteOperationType
{
  ON_GRAPH = 0,
  ON_STATUS_CHANGE = 1,
  ON_QUERY = 2
};
 
class RouteOperation
{
public:
  using Ptr = std::shared_ptr<nav2_route::RouteOperation>;
 
  RouteOperation() = default;
 
  virtual ~RouteOperation() = default;
 
  virtual void configure(
    const rclcpp_lifecycle::LifecycleNode::SharedPtr node,
    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber,
    const std::string & name) = 0;
 
  virtual std::string getName() = 0;
 
  virtual RouteOperationType processType() {return RouteOperationType::ON_GRAPH;}
 
  virtual OperationResult perform(
    NodePtr node_achieved,
    EdgePtr edge_entered,
    EdgePtr edge_exited,
    const Route & route,
    const geometry_msgs::msg::PoseStamped & curr_pose,
    const Metadata * mdata = nullptr) = 0;
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__INTERFACES__ROUTE_OPERATION_HPP_