complete_patterns_handler.hpp

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#pragma once

// Global Inclusion
#include <boost/shared_ptr.hpp>
#include <set>


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

// Local Inclusion
#include "asr_world_model/CompletePattern.h"
#include "asr_world_model/EmptyCompletePatterns.h"
#include "asr_world_model/GetCompletePatterns.h"
#include "asr_world_model/PushCompletePatterns.h"

#include "world_model/helper/debug_helper.hpp"

namespace world_model
{

typedef std::map<std::string, asr_world_model::CompletePattern> CompletePatterns;

std::ostream& operator<<(std::ostream &strm, const CompletePatterns &complete_patterns);
std::ostream& operator<<(std::ostream &strm, const std::vector<asr_world_model::CompletePattern> &complete_patterns);

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

    // PushCompletePatterns
    static const inline std::string GetPushCompletePatternsServiceName ()
    { return "push_complete_patterns"; }

    // EmptyCompletePatterns
    static const inline std::string GetEmptyCompletePatternsServiceName()
    { return "empty_complete_patterns"; }

    // GetCompletePatterns
    static const inline std::string GetGetCompletePatternsServiceName()
    { return "get_complete_patterns"; }

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

    CompletePatterns completePatterns;

    DebugHelperPtr debug_helper_ptr_;

public:
    /* ----------------- Public functions  ------------------  */
    CompletePatternsHandler();

    bool processEmptyCompletePatternsServiceCall(asr_world_model::EmptyCompletePatterns::Request &request,
                                             asr_world_model::EmptyCompletePatterns::Response &response);

    bool processGetCompletePatternsServiceCall(asr_world_model::GetCompletePatterns::Request &request,
                                           asr_world_model::GetCompletePatterns::Response &response);

    bool processPushCompletePatternsCall(asr_world_model::PushCompletePatterns::Request &request,
                                        asr_world_model::PushCompletePatterns::Response &response);

};

}