WaypointFollowingVisualization.h

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#include <ros/ros.h>
#include <interactive_markers/interactive_marker_server.h>
#include <interactive_markers/menu_handler.h>
#include <rsm_msgs/WaypointArray.h>
#include <rsm_msgs/Waypoint.h>
#include <rsm_msgs/MoveWaypoint.h>
#include <rsm_msgs/RemoveWaypoint.h>
#include <rsm_msgs/SetWaypointRoutine.h>
#include <rsm_msgs/GetWaypointRoutines.h>
#include <tf/tf.h>

namespace rsm {

class WaypointFollowingVisualization {
public:

        WaypointFollowingVisualization();
        ~WaypointFollowingVisualization();

private:
        void processFeedback(
                        const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);
        void removeWaypoint(
                        const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);
        void setWaypointRoutine(
                        const visualization_msgs::InteractiveMarkerFeedbackConstPtr &feedback);
        void waypointCallback(
                        const rsm_msgs::WaypointArray::ConstPtr& waypoint_array);
        void addWaypointMarkerToServer(int waypoint_pos);
        void timerCallback(const ros::TimerEvent& event);
        bool waypointArrayChanged(
                        const rsm_msgs::WaypointArray::ConstPtr& waypoint_array);
        void periodicalRefreshTimerCallback(const ros::TimerEvent& event);

        interactive_markers::InteractiveMarkerServer _waypoint_server;
        interactive_markers::MenuHandler _menu_handler;
        interactive_markers::MenuHandler::EntryHandle _routine_switch_handler;

        ros::Subscriber _waypoint_subscriber;
        ros::ServiceClient _move_waypoint_client;
        ros::ServiceClient _remove_waypoint_client;
        ros::ServiceClient _set_waypoint_routine_client;
        ros::ServiceClient _get_waypoint_routines_client;

        rsm_msgs::WaypointArray _waypoints;
        std::vector<std::string> _waypoint_routines;
        bool _refresh_waypoint_markers;
        ros::Timer _service_call_delay_timer;
        ros::Timer _periodical_refresh_timer;
};

}