light_buoy_plugin.hh

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/*
 * Copyright (C) 2019 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 VRX_GAZEBO_LIGHT_BUOY_PLUGIN_HH_
#define VRX_GAZEBO_LIGHT_BUOY_PLUGIN_HH_

#include <ros/ros.h>
#include <std_msgs/ColorRGBA.h>
#include <std_msgs/Empty.h>
#include <light_buoy_colors.pb.h>
#include <array>
#include <cstdint>
#include <mutex>
#include <string>
#include <utility>
#include <vector>
#include <gazebo/gazebo.hh>
#include <sdf/sdf.hh>

namespace gazebo
{
  typedef const boost::shared_ptr<
    const light_buoy_colors_msgs::msgs::LightBuoyColors>
      ConstLightBuoyColorsPtr;
}

//    defaults to /vrx/light_buoy/new_pattern
class LightBuoyPlugin : public gazebo::VisualPlugin
{
  // \brief Constructor
  public: LightBuoyPlugin();

  // Documentation inherited.
  public: void Load(gazebo::rendering::VisualPtr _parent,
                    sdf::ElementPtr _sdf);

  private: static std_msgs::ColorRGBA CreateColor(const double _r,
                                                  const double _g,
                                                  const double _b,
                                                  const double _a);

  private: static uint8_t IndexFromColor(const std::string &_color);

  private: void InitializeAllPatterns();

  private: bool ParseSDF(sdf::ElementPtr _sdf);

  private: void ChangePattern(const std_msgs::Empty::ConstPtr &_msg);

  private: void ChangePatternTo(gazebo::ConstLightBuoyColorsPtr &_msg);

  private: void Update();

  private: using Colors_t = std::pair<std_msgs::ColorRGBA, std::string>;

  private: using Pattern_t = std::array<uint8_t, 5>;

  private: static const std::array<Colors_t, 5> kColors;

  private: std::vector<Pattern_t> allPatterns;

  private: size_t allPatternsIdx = 0u;

  private: std::vector<std::string> visualNames;

  private: std::vector<gazebo::rendering::VisualPtr> visuals;

  private: bool shuffleEnabled = true;

  private: ros::Subscriber changePatternSub;

  private: ros::NodeHandle nh;

  // \brief Gazebo Node
  private: gazebo::transport::NodePtr gzNode;

  // \brief Gazebo subscriber listening for color specification
  private: gazebo::transport::SubscriberPtr colorSub;

  private: Pattern_t pattern;

  private: uint8_t state = 0u;

  private: std::string ns;

  private: std::string rosShuffleTopic;

  private: std::string gzColorsTopic;

  private: gazebo::rendering::ScenePtr scene;

  private: gazebo::event::ConnectionPtr updateConnection;

  private: gazebo::common::Time nextUpdateTime;

  private: std::mutex mutex;
};

#endif