polygon.hpp

// Copyright (c) 2022 Samsung R&D Institute Russia
//
// 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_COLLISION_MONITOR__POLYGON_HPP_
#define NAV2_COLLISION_MONITOR__POLYGON_HPP_
 
#include <memory>
#include <string>
#include <vector>
#include <unordered_map>
 
#include "rclcpp/clock.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/parameter.hpp"
#include "geometry_msgs/msg/polygon_stamped.hpp"
 
#include "tf2/time.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
#include "nav2_ros_common/lifecycle_node.hpp"
#include "nav2_costmap_2d/footprint_subscriber.hpp"
 
#include "nav2_collision_monitor/types.hpp"
 
using rcl_interfaces::msg::ParameterType;
 
namespace nav2_collision_monitor
{
 
class Polygon
{
public:
  Polygon(
    const nav2::LifecycleNode::WeakPtr & node,
    const std::string & polygon_name,
    const nav2::TransformBuffer::SharedPtr tf_buffer,
    const std::string & base_frame_id,
    const tf2::Duration & transform_tolerance);
  virtual ~Polygon();
 
  bool configure();
  void activate();
  void deactivate();
 
  std::string getName() const;
  ActionType getActionType() const;
  bool getEnabled() const;
  int getMinPoints() const;
 
  bool isTriggered(
    const std::unordered_map<std::string, std::vector<Point>> & sources_collision_points_map,
    std::vector<Point> & out_triggering_points);
 
  void resetTriggerState();
  double getSlowdownRatio() const;
  double getLinearLimit() const;
  double getAngularLimit() const;
  double getTimeBeforeCollision() const;
 
  virtual void getPolygon(std::vector<Point> & poly) const;
 
  std::vector<std::string> getSourcesNames() const;
 
  virtual bool isShapeSet();
 
  virtual void updatePolygon(const Velocity & /*cmd_vel_in*/);
 
  virtual int getPointsInside(
    const std::vector<Point> & points,
    std::vector<Point> & out_triggering_points) const;
 
  virtual int getPointsInside(
    const std::vector<Point> & points,
    std::vector<std::size_t> & out_triggering_indices) const;
 
  virtual int getPointsInside(
    const std::unordered_map<std::string, std::vector<Point>> & sources_collision_points_map,
    std::vector<Point> & out_triggering_points) const;
 
 
  double getCollisionTime(
    const std::unordered_map<std::string, std::vector<Point>> & sources_collision_points_map,
    const Velocity & velocity,
    std::vector<Point> & out_triggering_points) const;
 
  void publish();
 
private:
  bool isTriggeredInternal(int points_inside);
 
protected:
  bool getCommonParameters(
    std::string & polygon_sub_topic,
    std::string & polygon_pub_topic,
    std::string & footprint_topic,
    bool use_dynamic_sub = false);
 
  virtual bool getParameters(
    std::string & polygon_sub_topic,
    std::string & polygon_pub_topic,
    std::string & footprint_topic);
 
  virtual void createSubscription(std::string & polygon_sub_topic);
 
  void updatePolygon(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg);
 
  void polygonCallback(geometry_msgs::msg::PolygonStamped::ConstSharedPtr msg);
 
  void
  updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
 
  rcl_interfaces::msg::SetParametersResult
  validateParameterUpdatesCallback(const std::vector<rclcpp::Parameter> & parameters);
 
  bool getPolygonFromString(std::string & poly_string, std::vector<Point> & polygon);
 
  // ----- Variables -----
 
  nav2::LifecycleNode::WeakPtr node_;
  rclcpp::Logger logger_{rclcpp::get_logger("collision_monitor")};
  mutable std::mutex mutex_;
  rclcpp::node_interfaces::PostSetParametersCallbackHandle::SharedPtr post_set_params_handler_;
  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr on_set_params_handler_;
 
  // Basic parameters
  std::string polygon_name_;
  ActionType action_type_;
  int min_points_;
  int trigger_consecutive_points_;
  int release_consecutive_points_;
  int trigger_hits_;
  int release_hits_;
  bool trigger_active_;
  double slowdown_ratio_;
  double linear_limit_;
  double angular_limit_;
  double time_before_collision_;
  double simulation_time_step_;
  bool enabled_;
  bool polygon_subscribe_transient_local_;
  nav2::Subscription<geometry_msgs::msg::PolygonStamped>::SharedPtr polygon_sub_;
  std::unique_ptr<nav2_costmap_2d::FootprintSubscriber> footprint_sub_;
  std::vector<std::string> sources_names_;
 
  // Global variables
  nav2::TransformBuffer::SharedPtr tf_buffer_;
  std::string base_frame_id_;
  tf2::Duration transform_tolerance_;
  rclcpp::Clock::SharedPtr node_clock_;
 
  // Visualization
  bool visualize_;
  geometry_msgs::msg::PolygonStamped polygon_;
  nav2::Publisher<geometry_msgs::msg::PolygonStamped>::SharedPtr polygon_pub_;
 
  std::vector<Point> poly_;
};  // class Polygon
 
}  // namespace nav2_collision_monitor
 
#endif  // NAV2_COLLISION_MONITOR__POLYGON_HPP_