plugin_manager.h

Go to the documentation of this file.

#pragma once
 
/*
 * Copyright (C) 2019-2022LEIDOS.
 *
 * 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.
 */
 
#include <carma_planning_msgs/msg/plugin.hpp>
#include <carma_planning_msgs/srv/get_plugin_api.hpp>
#include <carma_planning_msgs/srv/plugin_list.hpp>
#include <carma_planning_msgs/srv/plugin_activation.hpp>
#include <ros2_lifecycle_manager/lifecycle_manager_interface.hpp>
#include <unordered_set>
#include <functional>
#include <vector>
#include <memory>
#include <chrono>
#include <rmw/types.h>
#include <map>
#include "entry_manager.h"
#include "entry.h"
 
 
namespace subsystem_controllers
{
 
    using GetParentNodeStateFunc = std::function<uint8_t()>;
    using SrvHeader = const std::shared_ptr<rmw_request_id_t>;
    using ServiceNamesAndTypesFunc = std::function<std::map<std::string, std::vector<std::string, std::allocator<std::string>>>(const std::string &,const std::string &)>;
 
    class PluginManager
    {
        public:
 
            // TODO do we need a system alert callback in this manager as well
 
            PluginManager(const std::vector<std::string>& required_plugins,
                          const std::vector<std::string>& auto_activated_plugins,
                          std::shared_ptr<ros2_lifecycle_manager::LifecycleManagerInterface> plugin_lifecycle_mgr,
                          GetParentNodeStateFunc get_parent_state_func,
                          ServiceNamesAndTypesFunc get_service_names_and_types_func,
                          std::chrono::nanoseconds service_timeout, std::chrono::nanoseconds call_timeout);
 
            bool configure();
            bool activate();
            bool deactivate();
            bool cleanup();
            bool shutdown();
 
            void update_plugin_status(carma_planning_msgs::msg::Plugin::UniquePtr msg);
 
            void get_registered_plugins(SrvHeader, carma_planning_msgs::srv::PluginList::Request::SharedPtr req, carma_planning_msgs::srv::PluginList::Response::SharedPtr res);
 
            void get_active_plugins(SrvHeader, carma_planning_msgs::srv::PluginList::Request::SharedPtr req, carma_planning_msgs::srv::PluginList::Response::SharedPtr res);
 
            void activate_plugin(SrvHeader, carma_planning_msgs::srv::PluginActivation::Request::SharedPtr req, carma_planning_msgs::srv::PluginActivation::Response::SharedPtr res);
 
            void get_strategic_plugins_by_capability(SrvHeader, carma_planning_msgs::srv::GetPluginApi::Request::SharedPtr req, carma_planning_msgs::srv::GetPluginApi::Response::SharedPtr res);
 
            void get_tactical_plugins_by_capability(SrvHeader, carma_planning_msgs::srv::GetPluginApi::Request::SharedPtr req, carma_planning_msgs::srv::GetPluginApi::Response::SharedPtr res);
 
            void get_control_plugins_by_capability(SrvHeader, carma_planning_msgs::srv::GetPluginApi::Request::SharedPtr req, carma_planning_msgs::srv::GetPluginApi::Response::SharedPtr res);
 
        protected:
 
            void add_plugin(const Entry& plugin);
 
            bool matching_capability(const std::vector<std::string>& base_capability_levels, const std::vector<std::string>& compared_capability_levels);
 
            bool is_ros2_lifecycle_node(const std::string& node);
 
            std::unordered_set<std::string> required_plugins_;
 
            // These will only be activated once, if the user later deactivates them then that behavior will be preserved
            std::unordered_set<std::string> auto_activated_plugins_;
 
            std::shared_ptr<ros2_lifecycle_manager::LifecycleManagerInterface> plugin_lifecycle_mgr_;
 
            GetParentNodeStateFunc get_parent_state_func_;
 
            ServiceNamesAndTypesFunc get_service_names_and_types_func_;
 
            EntryManager em_;
 
            std::chrono::nanoseconds service_timeout_;
 
            std::chrono::nanoseconds call_timeout_;
 
            const std::string plan_maneuvers_suffix_ = "/plan_maneuvers";
 
            const std::string plan_trajectory_suffix_ = "/plan_trajectory";
 
            const std::string control_trajectory_suffix_ = "/plan_trajectory";
 
    };
}