trajectory_executor_node.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.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <functional>
#include <carma_planning_msgs/msg/trajectory_plan.hpp>
#include <carma_planning_msgs/msg/guidance_state.hpp>
#include <gtest/gtest_prod.h>
 
#include <carma_ros2_utils/carma_lifecycle_node.hpp>
#include "trajectory_executor/trajectory_executor_config.hpp"
 
namespace trajectory_executor
{
 
  class TrajectoryExecutor : public carma_ros2_utils::CarmaLifecycleNode
  {
 
  private:
    // Subscribers
    carma_ros2_utils::SubPtr<carma_planning_msgs::msg::TrajectoryPlan> plan_sub_; // Inbound trajectory plan subscriber
    carma_ros2_utils::SubPtr<carma_planning_msgs::msg::GuidanceState> state_sub_; // Guidance State subscriber
 
    std::map<std::string, carma_ros2_utils::PubPtr<carma_planning_msgs::msg::TrajectoryPlan>> traj_publisher_map_; // Outbound trajectory plan publishers
 
    // Timers
    rclcpp::TimerBase::SharedPtr timer_; // Timer for publishing outbound trajectories to the control plugins
 
    // Node configuration
    Config config_;
 
    // Trajectory plan tracking data
    std::unique_ptr<carma_planning_msgs::msg::TrajectoryPlan> cur_traj_; 
    int timesteps_since_last_traj_ {0};
 
  protected:
    std::map<std::string, std::string> queryControlPlugins();
 
    void onNewTrajectoryPlan(carma_planning_msgs::msg::TrajectoryPlan::UniquePtr msg);
 
    void guidanceStateMonitor(carma_planning_msgs::msg::GuidanceState::UniquePtr msg);
 
    void onTrajEmitTick();
 
  public:
 
    explicit TrajectoryExecutor(const rclcpp::NodeOptions &);
 
    rcl_interfaces::msg::SetParametersResult 
    parameter_update_callback(const std::vector<rclcpp::Parameter> &parameters);
 
    // Overrides
    carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &);
    carma_ros2_utils::CallbackReturn handle_on_activate(const rclcpp_lifecycle::State &);
  };
 
} // trajectory_executor