route_plugin.h

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#ifndef MAPVIZ_PLUGINS_ROUTE_PLUGIN_H_
#define MAPVIZ_PLUGINS_ROUTE_PLUGIN_H_

// C++ standard libraries
#include <list>
#include <string>
#include <vector>

#include <mapviz/mapviz_plugin.h>

// QT libraries
#include <QGLWidget>
#include <QObject>
#include <QWidget>

// ROS libraries
#include <ros/ros.h>
#include <tf/transform_datatypes.h>
#include <marti_nav_msgs/RoutePosition.h>
#include <mapviz/map_canvas.h>
#include <swri_route_util/route.h>

// QT autogenerated files
#include "ui_route_config.h"

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

   public:
    enum DrawStyle
    {
      LINES = 0,
      POINTS = 1
    };

    RoutePlugin();
    virtual ~RoutePlugin();

    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);
    void DrawStopWaypoint(double x, double y);
    void DrawRoute(const swri_route_util::Route &route);
    void DrawRoutePoint(const swri_route_util::RoutePoint &point);

    QWidget* GetConfigWidget(QWidget* parent);

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

   protected Q_SLOTS:
    void SelectTopic();
    void SelectPositionTopic();
    void TopicEdited();
    void PositionTopicEdited();
    void SetDrawStyle(QString style);
    void DrawIcon();

   private:
    Ui::route_config ui_;
    QWidget* config_widget_;

    DrawStyle draw_style_;

    std::string topic_;
    std::string position_topic_;

    ros::Subscriber route_sub_;
    ros::Subscriber position_sub_;

    swri_route_util::Route src_route_;
    marti_nav_msgs::RoutePositionConstPtr src_route_position_;
    
    void RouteCallback(const marti_nav_msgs::RouteConstPtr &msg);
    void PositionCallback(const marti_nav_msgs::RoutePositionConstPtr &msg);
  };
}

#endif  // MAPVIZ_PLUGINS_ROUTE_PLUGIN_H_