view_port_handler.hpp

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#pragma once

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


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


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


// Local Inclusion
#include "asr_world_model/EmptyViewportList.h"
#include "asr_world_model/GetViewportList.h"
#include "asr_world_model/PushViewport.h"
#include "asr_world_model/FilterViewportDependingOnAlreadyVisitedViewports.h"

#include "world_model/model/settings.hpp"

#include "world_model/helper/debug_helper.hpp"
#include "world_model/helper/pose_helper.hpp"

namespace world_model
{

typedef std::vector<asr_msgs::AsrViewport> ViewportList;
typedef boost::shared_ptr<ViewportList> ViewportListPtr;

std::ostream& operator<<(std::ostream &strm, const ViewportList &viewport_list);
std::ostream& operator<<(std::ostream &strm, const ViewportListPtr &viewport_list_ptr);

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

    // PushViewport
    static const inline std::string GetPushViewportServiceName ()
    { return "push_viewport"; }

    // EmptyViewportList
    static const inline std::string GetEmptyViewportListServiceName()
    { return "empty_viewport_list"; }

    // GetViewportList
    static const inline std::string GetGetViewportListServiceName()
    { return "get_viewport_list"; }

    // FilterViewportDependingOnAlreadyVisitedViewports
    static const inline std::string GetFilterViewportDependingOnAlreadyVisitedViewportsName()
    { return "filter_viewport_depending_on_already_visited_viewports"; }

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

    // Vars
    std::size_t number_of_all_viewports;
    ViewportListPtr viewport_list_ptr_;

    DebugHelperPtr debug_helper_ptr_;
    PoseHelperPtr pose_helper_ptr_;
    SettingsPtr settings_ptr_;

    void filterObjectTypesOfViewport(asr_msgs::AsrViewport &viewport_to_filter, const asr_msgs::AsrViewport &filter_viewport);

public:
    /* ----------------- Public functions  ------------------  */
    ViewPortHandler(SettingsPtr settings_ptr);

    bool processEmptyViewportListServiceCall(asr_world_model::EmptyViewportList::Request &request,
                                             asr_world_model::EmptyViewportList::Response &response);

    bool processGetViewportListServiceCall(asr_world_model::GetViewportList::Request &request,
                                           asr_world_model::GetViewportList::Response &response);

    bool processPushViewportServiceCall(asr_world_model::PushViewport::Request &request,
                                        asr_world_model::PushViewport::Response &response);

    bool processFilterViewportDependingOnAlreadyVisitedViewportsVisited(asr_world_model::FilterViewportDependingOnAlreadyVisitedViewports::Request &request,
                                        asr_world_model::FilterViewportDependingOnAlreadyVisitedViewports::Response &response);

};

}