area_division.h

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#ifndef AREA_DIVISION_H
#define AREA_DIVISION_H

#include <ros/ros.h>
#include <map>
#include <vector>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Vector3.h>
#include <nav_msgs/OccupancyGrid.h>
#include <nav_msgs/GetMap.h>
#include <cpswarm_msgs/AreaDivisionEvent.h>
#include <cpswarm_msgs/GetDouble.h>
#include <cpswarm_msgs/ArrayOfStates.h>
#include <cpswarm_msgs/StateEvent.h>
#include <swarmros/String.h>
#include "lib/area_division.h"

using namespace std;
using namespace ros;

typedef enum {
    IDLE = 0, // this CPS is in a behavior state that does not require area division
    INIT,     // this CPS just changed to a behavior state that requires area division
    ACTIVE,   // this CPS is in a behavior state that requires area division
    SYNC,     // synchronization with the other CPSs is necessary
    DIVIDE,   // area division is required
    DEINIT    // this CPS just changed to a behavior state that does not require area division
} state_t;

state_t state;

Subscriber uuid_sub;

Subscriber pose_sub;

Subscriber swarm_sub;

Subscriber map_sub;

Subscriber division_sub;

Publisher pos_pub;

Publisher swarm_pub;

Publisher area_pub;

Publisher map_rot_pub;

Publisher map_ds_pub;

ServiceClient rotater_cli;

Rate* rate;

string uuid;

string behavior;

bool behavior_valid;

vector<string> behaviors;

map<string, geometry_msgs::PoseStamped> swarm_pose;

map<string, Time> swarm;

bool swarm_valid;

geometry_msgs::Pose pose;

bool pose_valid;

nav_msgs::OccupancyGrid global_map;

bool map_valid;

area_division* division;

geometry_msgs::Vector3 translation;

double resolution;

double swarm_timeout;

bool visualize;

Time sync_start;

#endif // AREA_DIVISION_H