source.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__SOURCE_HPP_
#define NAV2_COLLISION_MONITOR__SOURCE_HPP_
 
#include <memory>
#include <vector>
#include <string>
 
#include "rclcpp/duration.hpp"
#include "rclcpp/logger.hpp"
#include "rclcpp/node_interfaces/node_parameters_interface.hpp"
#include "rclcpp/parameter.hpp"
#include "rclcpp/time.hpp"
 
#include "tf2/time.hpp"
#include "nav2_ros_common/tf2_factories.hpp"
 
#include "nav2_msgs/srv/add_exclusion_zone.hpp"
#include "nav2_msgs/srv/remove_exclusion_zone.hpp"
 
#include "nav2_collision_monitor/types.hpp"
#include "nav2_collision_monitor/exclusion_zone.hpp"
#include "nav2_ros_common/lifecycle_node.hpp"
#include "std_msgs/msg/header.hpp"
 
using rcl_interfaces::msg::ParameterType;
 
namespace nav2_collision_monitor
{
 
class Source
{
public:
  Source(
    const nav2::LifecycleNode::WeakPtr & node,
    const std::string & source_name,
    const nav2::TransformBuffer::SharedPtr tf_buffer,
    const std::string & base_frame_id,
    const std::string & global_frame_id,
    const tf2::Duration & transform_tolerance,
    const rclcpp::Duration & source_timeout,
    const bool base_shift_correction);
  virtual ~Source();
 
  bool getData(
    const rclcpp::Time & curr_time,
    std::vector<Point> & data);
 
  void activate();
 
  void deactivate();
 
  void publishExclusionZones() const;
 
  bool getEnabled() const;
 
  std::string getSourceName() const;
 
  rclcpp::Duration getSourceTimeout() const;
 
protected:
  virtual bool getSourceData(
    const rclcpp::Time & curr_time,
    std::vector<Point> & data) = 0;
 
  bool configure();
 
  void getCommonParameters(std::string & source_topic);
 
  bool sourceValid(
    const rclcpp::Time & source_time,
    const rclcpp::Time & curr_time) const;
 
  void addExclusionZoneCallback(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<nav2_msgs::srv::AddExclusionZone::Request> request,
    std::shared_ptr<nav2_msgs::srv::AddExclusionZone::Response> response);
 
  void removeExclusionZoneCallback(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<nav2_msgs::srv::RemoveExclusionZone::Request> request,
    std::shared_ptr<nav2_msgs::srv::RemoveExclusionZone::Response> response);
 
  rcl_interfaces::msg::SetParametersResult validateParameterUpdatesCallback(
    const std::vector<rclcpp::Parameter> & parameters);
 
  void updateParametersCallback(const std::vector<rclcpp::Parameter> & parameters);
 
  bool getTransform(
    const rclcpp::Time & curr_time,
    const std_msgs::msg::Header & data_header,
    tf2::Transform & tf_transform) const;
 
  // ----- 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 source_name_;
 
  // Global variables
  nav2::TransformBuffer::SharedPtr tf_buffer_;
  std::string base_frame_id_;
  std::string global_frame_id_;
  tf2::Duration transform_tolerance_;
  rclcpp::Duration source_timeout_;
  bool base_shift_correction_;
  bool enabled_;
  std::vector<std::shared_ptr<ExclusionZone>> exclusion_zones_;
  nav2::ServiceServer<nav2_msgs::srv::AddExclusionZone>::SharedPtr add_ez_service_;
  nav2::ServiceServer<nav2_msgs::srv::RemoveExclusionZone>::SharedPtr remove_ez_service_;
};  // class Source
 
}  // namespace nav2_collision_monitor
 
#endif  // NAV2_COLLISION_MONITOR__SOURCE_HPP_