capabilities_interface.hpp

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/*
 * Copyright (C) 2022 LEIDOS.
 *
 * 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 __ARBITRATOR_INCLUDE_CAPABILITIES_INTERFACE_HPP__
#define __ARBITRATOR_INCLUDE_CAPABILITIES_INTERFACE_HPP__
 
#include <rclcpp/rclcpp.hpp>
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include <vector>
#include <map>
#include <unordered_set>
#include <string>
#include <carma_planning_msgs/srv/plugin_list.hpp>
#include <carma_planning_msgs/srv/get_plugin_api.hpp>
#include <carma_planning_msgs/srv/plan_maneuvers.hpp>
 
 
 
namespace arbitrator
{
    class CapabilitiesInterface
    {
        public:
            CapabilitiesInterface(std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> nh): nh_(nh) {
                sc_s_ = nh_->create_client<carma_planning_msgs::srv::GetPluginApi>("plugins/get_strategic_plugins_by_capability");
            };
 
            // void initialize();
 
            std::vector<std::string> get_topics_for_capability(const std::string& query_string);
 
 
            template<typename MSrvReq, typename MSrvRes>
            std::map<std::string, std::shared_ptr<MSrvRes>> multiplex_service_call_for_capability(const std::string& query_string, std::shared_ptr<MSrvReq> msg);
 
 
            const static std::string STRATEGIC_PLAN_CAPABILITY;
        protected:
        private:
            std::shared_ptr<carma_ros2_utils::CarmaLifecycleNode> nh_;
            std::unordered_map<std::string,carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::PlanManeuvers>> registered_strategic_plugins_;
 
            carma_ros2_utils::ClientPtr<carma_planning_msgs::srv::GetPluginApi> sc_s_;
            std::unordered_set <std::string> capabilities_ ;
 
 
 
    };
 
}
 
#include "capabilities_interface.tpp"
 
#endif