common_information_handler.hpp

Go to the documentation of this file.

#pragma once

// Global Inclusion
#include <boost/shared_ptr.hpp>
#include <vector>
#include <map>
#include <list>


// ROS Main Inclusion
#include <ros/ros.h>


// ROS-wide Inclusion
#include <asr_msgs/AsrTypeAndId.h>
#include <asr_msgs/AsrObject.h>


// Local Inclusion
#include "asr_world_model/GetRecognizerName.h"
#include "asr_world_model/GetIntermediateObjectWeight.h"
#include "asr_world_model/GetAllObjectsList.h"
#include "asr_world_model/GetMissingObjectList.h"

#include "world_model/model/settings.hpp"
#include "world_model/model/model_type.hpp"
#include "world_model/model/model_object.hpp"
#include "world_model/helper/debug_helper.hpp"

namespace world_model
{

class CommonInformationHandler
{
public:
    /* ----------------- Public members  ------------------  */
    // Wrapped Constants

    // GetMissingObjectList
    static const inline std::string GetGetMissingObjectListServiceName ()
    { return "get_missing_object_list"; }

    // GetRecognizerName
    static const inline std::string GetGetRecognizerNameServiceName()
    { return "get_recognizer_name"; }

    // GetAllObjectsList
    static const inline std::string GetGetAllObjectsListServiceName()
    { return "get_all_objects_list"; }

    // GetIntermediateObjectWeight
    static const inline std::string GetGetIntermediateObjectWeightServiceName()
    { return "get_intermediate_object_weight"; }

private:
    /* ----------------- Private members  ------------------  */

    DebugHelperPtr debug_helper_ptr_;

    ModelTypePtrPerTypeMapPtr model_type_ptr_per_type_map_ptr_;
    SettingsPtr settings_ptr_;

public:
    /* ----------------- Public functions  ------------------  */
    CommonInformationHandler(ModelTypePtrPerTypeMapPtr model_type_ptr_per_type_map_ptr, SettingsPtr settings_ptr);

    bool processGetRecognizerNameServiceCall(asr_world_model::GetRecognizerName::Request &request,
                                             asr_world_model::GetRecognizerName::Response &response);

    bool processGetIntermediateObjectWeightServiceCall(asr_world_model::GetIntermediateObjectWeight::Request &request,
                                                       asr_world_model::GetIntermediateObjectWeight::Response &response);

    bool processGetAllObjectsListServiceCall(asr_world_model::GetAllObjectsList::Request &request,
                                             asr_world_model::GetAllObjectsList::Response &response);

    bool processGetMissingObjectListServiceCall(asr_world_model::GetMissingObjectList::Request &request,
                                                asr_world_model::GetMissingObjectList::Response &response);

private:
    void pushTypeAndId(std::vector<asr_msgs::AsrTypeAndId> &typeAndIds, const std::string type, const std::string identifier) const;
};

}