AriacScorer.h

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/*
 * Copyright (C) 2012-2016 Open Source Robotics Foundation
 *
 * 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.
 *
*/
/*
 * Desc: ARIAC scorer.
 * Author: Deanna Hood
 */
#ifndef _ROS_ARIAC_SCORER_HH_
#define _ROS_ARIAC_SCORER_HH_

#include <map>
#include <string>

#include <ros/ros.h>

#include "osrf_gear/ARIAC.hh"
#include "osrf_gear/AriacKitTray.h"
#include <osrf_gear/Goal.h>
#include <osrf_gear/KitTray.h>
#include "osrf_gear/VacuumGripperState.h"

class AriacScorer
{
  public: AriacScorer();

  public: virtual ~AriacScorer();

  public: void Update(double timeStep = 0.0);

  public: ariac::GameScore GetGameScore();

  public: bool IsCurrentGoalComplete();

  public: ariac::GoalScore GetCurrentGoalScore();

  public: void AssignGoal(const ariac::Goal & goal);

  public: ariac::GoalScore UnassignCurrentGoal(double timeTaken = 0.0);

  public: bool GetTrayById(const ariac::TrayID_t & trayID, ariac::KitTray & kitTray);

  public: ariac::TrayScore SubmitTray(const ariac::KitTray & tray);

  protected: ariac::TrayScore ScoreTray(const ariac::KitTray & tray);

  protected: void ScoreCurrentState();

  public: static void FillKitFromMsg(const osrf_gear::Kit & kitMsg, ariac::Kit & kit);

  public: void OnGoalReceived(const osrf_gear::Goal::ConstPtr & goalMsg);

  public: void OnTrayInfoReceived(const osrf_gear::KitTray::ConstPtr & trayMsg);

  public: void OnGripperStateReceived(const osrf_gear::VacuumGripperState &stateMsg);

  protected: std::map<ariac::TrayID_t, ariac::KitTray> kitTrays;

  protected: mutable boost::mutex kitTraysMutex;

  protected: ariac::Goal currentGoal;

  protected: bool newTrayInfoReceived;

  protected: bool newGoalReceived;

  protected: bool isPartTravelling = false;

  protected: ariac::Goal newGoal;

  protected: ariac::ScoringParameters scoringParameters;

  protected: ariac::GoalScore* goalScore;

  protected: ariac::GameScore gameScore;

};
#endif