rerouting_service.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__PLUGINS__ROUTE_OPERATIONS__REROUTING_SERVICE_HPP_
#define NAV2_ROUTE__PLUGINS__ROUTE_OPERATIONS__REROUTING_SERVICE_HPP_
 
#include <memory>
#include <string>
 
#include "rclcpp/rclcpp.hpp"
#include "rclcpp_lifecycle/lifecycle_node.hpp"
#include "nav2_route/interfaces/route_operation.hpp"
#include "nav2_ros_common/node_utils.hpp"
#include "std_srvs/srv/trigger.hpp"
#include "nav2_ros_common/service_server.hpp"
 
namespace nav2_route
{
 
class ReroutingService : public RouteOperation
{
public:
  ReroutingService() = default;
 
  virtual ~ReroutingService() = default;
 
  void configure(
    const nav2::LifecycleNode::SharedPtr node,
    std::shared_ptr<nav2_costmap_2d::CostmapSubscriber> costmap_subscriber,
    const std::string & name) override;
 
  std::string getName() override {return name_;}
 
  RouteOperationType processType() override {return RouteOperationType::ON_QUERY;}
 
  OperationResult perform(
    NodePtr node,
    EdgePtr edge_entered,
    EdgePtr edge_exited,
    const Route & route,
    const geometry_msgs::msg::PoseStamped & curr_pose,
    const Metadata * mdata = nullptr) override;
 
  void serviceCb(
    const std::shared_ptr<rmw_request_id_t> request_header,
    const std::shared_ptr<std_srvs::srv::Trigger::Request> request,
    std::shared_ptr<std_srvs::srv::Trigger::Response> response);
 
protected:
  std::string name_;
  std::atomic_bool reroute_;
  rclcpp::Logger logger_{rclcpp::get_logger("ReroutingService")};
  typename nav2::ServiceServer<std_srvs::srv::Trigger>::SharedPtr service_;
};
 
}  // namespace nav2_route
 
#endif  // NAV2_ROUTE__PLUGINS__ROUTE_OPERATIONS__REROUTING_SERVICE_HPP_