marti_nav_path_plugin.h

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#ifndef MAPVIZ_PLUGINS_MARTI_NAV_PATH_PLUGIN_H_
#define MAPVIZ_PLUGINS_MARTI_NAV_PATH_PLUGIN_H_

#include <string>

#include <boost/circular_buffer.hpp>

#include <mapviz/mapviz_plugin.h>

#include <QObject>
#include <QGLWidget>
#include <QColor>

#include <ros/subscriber.h>

#include <mapviz/mapviz_plugin.h>

#include <marti_nav_msgs/Path.h>

#include <topic_tools/shape_shifter.h>

#include "ui_marti_nav_path_config.h"

namespace mapviz_plugins
{
class MartiNavPathPlugin : public mapviz::MapvizPlugin
{
  Q_OBJECT

  Ui::marti_nav_path_config ui_;
  QWidget* config_widget_;
  std::string topic_;

  ros::Subscriber subscriber_;

  boost::circular_buffer<marti_nav_msgs::Path> items_;

public:

  MartiNavPathPlugin();

  bool Initialize(QGLWidget* canvas);
  void Shutdown();
  void Draw(double x, double y, double scale);
  void Transform();

  void LoadConfig(const YAML::Node& node, const std::string& path);
  void SaveConfig(YAML::Emitter& emitter, const std::string& path);

  QWidget* GetConfigWidget(QWidget* parent);

protected:

  void PrintInfo(const std::string& message);
  void PrintWarning(const std::string& message);
  void PrintError(const std::string& message);

  void setColorForDirection(const bool in_reverse);

  // Callbacks and helpers for them
  void messageCallback(const topic_tools::ShapeShifter::ConstPtr& msg);
  void handlePath(const marti_nav_msgs::Path& path);
  void handlePathPoint(const marti_nav_msgs::PathPoint& pt);

protected Q_SLOTS:  // NOLINT - Qt SLOTS

  void selectTopic();
  void topicEdited();
  void historyChanged();
};  // class MartiNavPathPlugin
}  // namespace mapviz_plugins
#endif  // MAPVIZ_PLUGINS_MARTI_NAV_PATH_PLUGIN_H_