placard_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_PLACARD_PLUGIN_HH_
#define VRX_GAZEBO_PLACARD_PLUGIN_HH_

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

namespace gazebo
{
  typedef const boost::shared_ptr<
    const dock_placard_msgs::msgs::DockPlacard>
      ConstDockPlacardPtr;
}

class PlacardPlugin : public gazebo::VisualPlugin
{
  // Documentation inherited.
  public: PlacardPlugin();

  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: void InitializeAllPatterns();

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

  private: void Update();

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

  private: void ChangeSymbolTo(gazebo::ConstDockPlacardPtr &_msg);

  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<std::array<std::string, 2u>> 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 changeSymbolSub;

  private: ros::NodeHandle nh;

  private: std::string ns;

  private: std::string rosShuffleTopic;

  private: gazebo::transport::NodePtr gzNode;

  private: std::string symbolSubTopic;

  private: gazebo::transport::SubscriberPtr symbolSub;

  private: gazebo::rendering::ScenePtr scene;

  private: gazebo::event::ConnectionPtr updateConnection;

  private: gazebo::common::Time nextUpdateTime;

  private: std::mutex mutex;
};

#endif