NavigatingSkillHelper.h

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/*
 * This file is part of ArmarX.
 *
 * ArmarX is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License version 2 as
 * published by the Free Software Foundation.
 *
 * ArmarX is distributed in the hope that it will be useful, but
 * WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program. If not, see <http://www.gnu.org/licenses/>.
 *
 * @author     Fabian Reister ( fabian dot reister at kit dot edu )
 * @date       2023
 * @copyright  http://www.gnu.org/licenses/gpl-2.0.txt
 *             GNU General Public License
 */
 
#pragma once
 
#include <experimental/memory>
#include <mutex>
#include <optional>
 
#include <RobotAPI/libraries/skills/core/Skill.h>
#include <RobotAPI/libraries/skills/core/SkillDescription.h>
#include <RobotAPI/libraries/skills/provider/SimpleSpecializedSkill.h>
 
#include <armarx/navigation/client.h>
#include <armarx/navigation/client/services/IceNavigatorFactory.h>
#include <armarx/navigation/client/services/MemorySubscriber.h>
#include <armarx/navigation/core/NavigationStackGeneralConfig.h>
#include <armarx/navigation/safety_guard/LaserBasedProximity.h>
#include <armarx/navigation/skills/aron/NavigatingSkillParams.aron.generated.h>
 
namespace armarx::navigation::skills
{
    class NavigatingSkillHelper
    {
    public:
        struct Services
        {
            client::IceNavigatorFactory& iceNavigatorFactory;
 
            armem::client::MemoryNameSystem& memoryNameSystem;
        };
 
        struct Properties
        {
            std::experimental::observer_ptr<std::mutex> safetyGuardParamsMutex;
            std::experimental::observer_ptr<safety_guard::LaserBasedProximityParams>
                safetyGuardParams;
            core::GeneralConfig defaultGeneralConfig;
        };
 
        NavigatingSkillHelper(const Properties& properties, const Services& srv);
 
        void init(const arondto::NavigatingSkillParams& params, const std::string& id);
 
        std::optional<client::Navigator>& getNavigator();
 
        static arondto::NavigatingSkillParams DefaultSkillDescription();
 
    private:
        Properties properties_;
        std::optional<Services> srv_;
 
        // will be initialized in "init()"
        std::optional<client::MemorySubscriber> memorySubscriber;
        client::NavigatorHandlePtr iceNavigator;
        std::optional<client::Navigator> navigator;
    };
 
} // namespace armarx::navigation::skills