__init__.py

"""
ROS Executor extension for AVLite with Autoware message support.

This extension provides:
- ROSExecuter: Executor that syncs with external ROS planner/controller
- PerceptionNode: ROS node that publishes AVLite ego state and tracked objects
- PlannerNode: ROS node that runs AVLite planner, publishes Autoware Trajectory
- ControllerNode: ROS node that runs AVLite controller, publishes Autoware ControlCommand
- WorldNode: ROS node that runs world simulation asynchronously
- ROSLocalPlanner / ROSController: Internal aliases (not in strategy dropdowns)
- ProxyLocalPlanner / ProxyController: Internal mirrors used by ROSExecuter
- Autoware message converters for EgoState, Trajectory, ControlCommand

Architecture (multiprocess):
- ROSExecuter spawns world/planner/controller worker subprocesses from the visualizer
- Workers communicate only via ROS topics (no shared planner objects or locks)
- Main process runs CollectorNode to sync topic data into the GUI
- BasicSim runs in the world worker; main process uses TopicMirrorBridge for plots
"""

from .p47_proxy_strategies import (
    ProxyController,
    ProxyLocalPlanner,
    ROSController,
    ROSLocalPlanner,
)
from .settings import PluginSettings

__all__ = [
    "ROSExecuter",
    "PerceptionNode",
    "PlannerNode",
    "ControllerNode",
    "WorldNode",
    "ProxyLocalPlanner",
    "ProxyController",
    "ROSLocalPlanner",
    "ROSController",
    "PluginSettings",
]

_LAZY_EXPORTS = {
    "ROSExecuter": ".p41_ros_launcher",
    "PerceptionNode": ".p42_perception_node",
    "PlannerNode": ".p43_planner_node",
    "ControllerNode": ".p44_controller_node",
    "WorldNode": ".p45_world_node",
}


def __getattr__(name: str):
    if name in _LAZY_EXPORTS:
        import importlib
        module = importlib.import_module(_LAZY_EXPORTS[name], __name__)
        return getattr(module, name)
    raise AttributeError(f"module {__name__!r} has no attribute {name!r}")