symbol_controller.hh

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/*
 * Copyright (C) 2018 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

#ifndef VMRC_GAZEBO_SYMBOL_CONTROLLER_HH_
#define VMRC_GAZEBO_SYMBOL_CONTROLLER_HH_

#include <ros/ros.h>
#include <std_msgs/ColorRGBA.h>
#include <std_srvs/Trigger.h>

#include <map>
#include <string>
#include <vector>
#include <gazebo/gazebo.hh>
#include <sdf/sdf.hh>

class SymbolController : public gazebo::ModelPlugin
{
  public: SymbolController() = default;

  // Documentation inherited.
  public: virtual void Load(gazebo::physics::ModelPtr _parent,
                            sdf::ElementPtr _sdf);

  public: void Shuffle();

  private: bool Shuffle(std_srvs::Trigger::Request &_req,
                        std_srvs::Trigger::Response &_res);

  private: void ShuffleShape();

  private: void ShuffleColor();

  private: void Publish(const ros::TimerEvent &_event);

  private: void Publish();

  private: static std::map<std::string, std_msgs::ColorRGBA> kColors;

  private: static std::vector<std::string> kShapes;

  private: std::string color;

  private: std::string shape;

  private: std::vector<ros::Publisher> symbolPubs;

  private: ros::ServiceServer changePatternServer;

  private: ros::NodeHandle nh;

  // the first time.
  private: ros::Timer timer;
};

#endif