ros_node_context.hpp

// Copyright 2024 Robin Müller
//
// 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 <chrono>
#include <string>
 
#include "auto_apms_behavior_tree_core/node/node_registration_options.hpp"
#include "behaviortree_cpp/tree_node.h"
#include "rclcpp/rclcpp.hpp"
 
namespace auto_apms_behavior_tree::core
{

class RosNodeContext
{
  friend class RosNodeBase;
  template <class, typename, bool>
  friend class NodeRegistrationTemplate;
 
public:
  RosNodeContext(
    rclcpp::Node::SharedPtr ros_node, rclcpp::CallbackGroup::SharedPtr tree_node_waitables_callback_group,
    rclcpp::executors::SingleThreadedExecutor::SharedPtr tree_node_waitables_executor,
    const NodeRegistrationOptions & options);

  std::string getROSNodeName() const;

  std::string getFullyQualifiedRosNodeName() const;

  rclcpp::Logger getBaseLogger() const;

  rclcpp::Logger getChildLogger(const std::string & name);

  rclcpp::Time getCurrentTime() const;

  std::string getFullyQualifiedTreeNodeName(const BT::TreeNode * node, bool with_class_name = true) const;

  YAML::Node getExtraOptions() const;

  rclcpp::Node::SharedPtr getRosNode() const;

  rclcpp::CallbackGroup::SharedPtr getWaitablesCallbackGroup() const;

  rclcpp::executors::SingleThreadedExecutor::SharedPtr getWaitablesExecutor() const;

  BT::Expected<std::string> getTopicName(const BT::TreeNode * node) const;

  const NodeRegistrationOptions & getRegistrationOptions() const;
 
private:
  void copyAliasedPortValuesToOriginalPorts(const BT::TreeNode * node) const;
 
  void modifyProvidedPortsListForRegistration(BT::PortsList & ports_list) const;
 
  const std::string ros_node_name_;
  const std::string fully_qualified_ros_node_name_;
  rclcpp::Logger base_logger_;

  rclcpp::Node::WeakPtr nh_;
  rclcpp::CallbackGroup::WeakPtr cb_group_;
  rclcpp::executors::SingleThreadedExecutor::WeakPtr executor_;
  const NodeRegistrationOptions registration_options_;
};
 
}  // namespace auto_apms_behavior_tree::core