RSMControls.h

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#ifndef RSM_CONTROLS_H
#define RSM_CONTROLS_H

#include <ros/ros.h>
#include <rviz/panel.h>
#include <QtWidgets/QWidget>
#include <QtWidgets/QPushButton>
#include <QStringList>
#include <QDebug>
#include <QObject>
#include "ui_rsm_controls.h"
#include <std_srvs/SetBool.h>
#include <std_srvs/Trigger.h>
#include <std_msgs/String.h>
#include <rsm_msgs/OperationMode.h>
#include <rsm_msgs/SetWaypointFollowingMode.h>
#include <rsm_msgs/AddWaypoint.h>
#include <rsm_msgs/GetWaypointRoutines.h>
#include <rsm_msgs/GetRobotPose.h>
#include <rsm_msgs/SetOperationMode.h>
#include <std_srvs/SetBool.h>
#include <std_msgs/Bool.h>
#include <pluginlib/class_list_macros.h>

namespace rsm {

class RSMControlPanel: public rviz::Panel {
        Q_OBJECT
public:
        RSMControlPanel(QWidget *parent = 0);

        virtual void load(const rviz::Config &config);
        virtual void save(rviz::Config config) const;

protected slots:
        void startStopExploration();
        void startStopWaypointFollowing();
        void resetWaypoints();
        void addWaypoint();
        void setReverseMode();
        void emergencyStop();
        void stopOperation();
        void setAutonomyOperation();
        void setTeleoperation();
        void stop2dNavGoal();

private:
        Ui::rsm_controls* _gui;

        ros::NodeHandle _nh;

        ros::ServiceClient _start_stop_exploration_client;
        ros::ServiceClient _start_stop_waypoint_following_client;
        ros::ServiceClient _waypoint_reset_client;
        ros::ServiceClient _set_waypoint_following_mode_client;
        ros::ServiceClient _add_waypoint_client;
        ros::ServiceClient _get_waypoint_routines_client;
        ros::ServiceClient _set_reverse_mode_client;
        ros::ServiceClient _get_robot_pose_client;
        ros::ServiceClient _set_operation_mode_client;
        ros::ServiceClient _set_exploration_mode_client;
        ros::ServiceClient _state_info_client;
        ros::ServiceClient _stop_2d_nav_goal_client;
        ros::Subscriber _state_info_subscriber;
        ros::Subscriber _reverse_mode_subscriber;
        ros::Subscriber _operation_mode_subcriber;
        ros::Subscriber _exploration_mode_subscriber;

        bool _operation_mode_button_pushed;
        bool _exploration_running;
        bool _waypoint_following_running;
        bool _reverse_mode;
        bool _emergency_stop_active;
        int _operation_mode;
        std::vector<std::string> _waypoint_routines;

        void callSetOperationMode();
        void stateInfoCallback(const std_msgs::String::ConstPtr& state_info);
        void reverseModeCallback(const std_msgs::Bool::ConstPtr& reverse_mode);
        void operationModeCallback(
                        const rsm_msgs::OperationMode::ConstPtr& operation_mode);
        void initCommunications();
        void connectSlots();
        void initRoutineComboBox();
        void getStateInfo();
        void setWaypointFollowingMode();
        void setExplorationMode();
        void updateOperationModeGUI();
};

}  // end namespace rsm

#endif  // RSM_CONTROLS_H