environment_visualizer.h

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#ifndef ENVIRONMENT_VISUALIZER_H
#define ENVIRONMENT_VISUALIZER_H

#include <ros/ros.h>
#include <asr_visualization_server/DrawAllModelsDome.h>
#include <asr_visualization_server/DrawAllModelsMild.h>
#include <asr_visualization_server/ClearAllModels.h>
#include <asr_visualization_server/DrawModelDome.h>
#include <asr_visualization_server/DrawModelMild.h>
#include <asr_visualization_server/ClearModelDome.h>
#include <asr_visualization_server/ClearModelMild.h>
#include <asr_visualization_server/ShowAvailableModels.h>

#include "marker_helper.h"


namespace visualization_server {

using namespace asr_visualization_server;

const static std::string NODE_NAME("visualization");

const static std::string DRAW_ALL_DOME_SERVICE_NAME("draw_all_models_dome");

const static std::string DRAW_ALL_MILD_SERVICE_NAME("draw_all_models_mild");

const static std::string CLEAR_ALL_MODELS_SERVICE_NAME("clear_all_models");

const static std::string DRAW_MODEL_DOME_SERVICE_NAME("draw_model_dome");

const static std::string DRAW_MODEL_MILD_SERVICE_NAME("draw_model_mild");

const static std::string CLEAR_MODEL_DOME_SERVICE_NAME("clear_model_dome");

const static std::string CLEAR_MODEL_MILD_SERVICE_NAME("clear_model_mild");

const static std::string SHOW_AVAILABLE_MODELS_SERVICE_NAME("show_available_models");

class EnvironmentVisualizer {

private:

    ros::NodeHandle nh_;

    ros::Timer publish_timer_;

    ros::ServiceServer draw_all_mild_service_;
    ros::ServiceServer draw_all_dome_service_;
    ros::ServiceServer clear_all_service_;
    ros::ServiceServer draw_model_dome_service_;
    ros::ServiceServer draw_model_mild_service_;
    ros::ServiceServer clear_model_dome_service_;
    ros::ServiceServer clear_model_mild_service_;
    ros::ServiceServer show_available_models_service_;

    ros::Publisher model_pub_;

    std::string output_models_topic_;

    MarkerHelper marker_helper_;

    visualization_msgs::MarkerArray dome_markers_;
    visualization_msgs::MarkerArray mild_markers_;


    void timerCallback(const ros::TimerEvent& e);

    bool processDrawAllModelsDomeRequest(DrawAllModelsDome::Request &req, DrawAllModelsDome::Response &res);

    bool processDrawAllModelsMildRequest(DrawAllModelsMild::Request &req, DrawAllModelsMild::Response &res);

    bool processClearAllModelsRequest(ClearAllModels::Request &req, ClearAllModels::Response &res);

    bool processDrawModelDomeRequest(DrawModelDome::Request &req, DrawModelDome::Response &res);

    bool processDrawModelMildRequest(DrawModelMild::Request &req, DrawModelMild::Response &res);

    bool processClearModelDomeRequest(ClearModelDome::Request &req, ClearModelDome::Response &res);

    bool processClearModelMildRequest(ClearModelMild::Request &req, ClearModelMild::Response &res);

    bool processShowAvailableModelsRequest(ShowAvailableModels::Request &req, ShowAvailableModels::Response &res);




public:
    EnvironmentVisualizer();

};

}

#endif /* ENVIRONMENT_VISUALIZER_H */