StateInterface.h

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#ifndef StateInterface_H_
#define StateInterface_H_

#include <rsm_msgs/OperationMode.h>
#include <rsm_msgs/SetNavigationGoal.h>
#include <geometry_msgs/Twist.h>
#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <std_msgs/String.h>
#include <std_srvs/SetBool.h>
#include <std_srvs/Trigger.h>
#include <pluginlib/class_loader.h>
#include <rsm_core/BaseState.h>
#include <rsm_core/IdleState.h>

namespace rsm {

#define CALCULATEGOAL_STATE 1
#define NAVIGATION_STATE 2
#define MAPPING_STATE 3
#define ROUTINE_STATE 4

class StateInterface {

public:

        StateInterface();

        virtual ~StateInterface();

        boost::shared_ptr<rsm::BaseState> getPluginState(int plugin_type,
                        std::string routine = "");

        void awake();

        void transitionToVolatileState(
                        boost::shared_ptr<rsm::BaseState> next_state);

private:
        ros::NodeHandle _nh;
        ros::Subscriber _operation_mode_sub;
        ros::Subscriber _simple_goal_sub;
        ros::ServiceServer _start_stop_exploration_service;
        ros::ServiceServer _start_stop_waypoint_following_service;
        ros::ServiceServer _stop_2d_nav_goal_service;
        ros::ServiceClient _set_navigation_goal_client;
        ros::ServiceServer _state_info_service;
        ros::Publisher _state_info_publisher;

        boost::shared_ptr<rsm::BaseState> _current_state;
        boost::shared_ptr<rsm::BaseState> _next_state;
        bool _on_interrupt;

        std::string _calculate_goal_plugin;
        std::string _navigation_plugin;
        std::string _mapping_plugin;
        pluginlib::ClassLoader<rsm::BaseState> _plugin_loader;

        void operationModeCallback(
                        const rsm_msgs::OperationMode::ConstPtr& operation_mode);
        void simpleGoalCallback(const geometry_msgs::PoseStamped::ConstPtr& goal);
        bool startStopExplorationService(std_srvs::SetBool::Request &req,
                        std_srvs::SetBool::Response &res);
        bool startStopWaypointFollowingService(std_srvs::SetBool::Request &req,
                        std_srvs::SetBool::Response &res);
        bool stop2dNavGoal(std_srvs::Trigger::Request &req,
                        std_srvs::Trigger::Response &res);
        bool stateInfoService(std_srvs::Trigger::Request &req,
                        std_srvs::Trigger::Response &res);

};

}

#endif