visualization_daemon.h

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/*
 * Copyright 2022 Technical University of Munich, Chair of Materials Handling,
 * Material Flow, Logistics – All Rights Reserved
 * 
 * You may use, distribute and modify this code under the terms of the 3-clause
 * BSD license. You should have received a copy of that license with this file.
 * If not, please write to {kontakt.fml@ed.tum.de}.
 */

#ifndef VIS_DAEMON_H
#define VIS_DAEMON_H
#include <ros/ros.h>
#include <string>
#include <ros/console.h>
#include <std_msgs/UInt32.h>
#include <std_msgs/Float64.h>
#include <std_msgs/Int8.h>
#include <std_msgs/Bool.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/BatteryState.h>
#include "daemon.h"
#include "std_msgs/String.h"
#include "boost/date_time/posix_time/posix_time.hpp"

#include "vda5050_msgs/State.h"
#include "vda5050_msgs/NodeStates.h"
#include "vda5050_msgs/NodeState.h"
#include "vda5050_msgs/EdgeStates.h"
#include "vda5050_msgs/EdgeState.h"
#include "vda5050_msgs/AGVPosition.h"
#include "vda5050_msgs/Loads.h"
#include "vda5050_msgs/ActionStates.h"
#include "vda5050_msgs/Errors.h"
#include "vda5050_msgs/Information.h"
#include "vda5050_msgs/SafetyState.h"
#include "vda5050_msgs/Visualization.h"

class VisDaemon: public Daemon
{
        private:
        vda5050_msgs::Visualization visMessage;
        ros::Publisher pub;
        ros::Duration updateInterval;
        ros::Time lastUpdateTimestamp;
        public:
        VisDaemon();

        bool CheckPassedTime();

        void LinkPublishTopics(ros::NodeHandle *nh);

        void LinkSubscriptionTopics(ros::NodeHandle *nh);

        void PublishVisualization();

        void UpdateVisualization();
        
        double CalculateAgvOrientation(const nav_msgs::Odometry::ConstPtr& msg);
        
        // ---- ALL THE CALLBACKS ----
        void AGVPositionCallback(const vda5050_msgs::AGVPosition::ConstPtr& msg);

        void AGVPositionInitializedCallback(const std_msgs::Bool::ConstPtr& msg);

        void AGVPositionLocalizationScoreCallback(const std_msgs::Float64::ConstPtr& msg);

        void AGVPositionDeviationRangeCallback(const std_msgs::Float64::ConstPtr& msg);

        void ROSAGVPositionCallback(const nav_msgs::Odometry::ConstPtr& msg);

        void AGVPositionMapIdCallback(const std_msgs::String::ConstPtr& msg);

        void AGVPositionMapDescriptionCallback(const std_msgs::String::ConstPtr& msg);

        void ROSVelocityCallback(const nav_msgs::Odometry::ConstPtr& msg);
};
#endif