ROSAriacTaskManagerPlugin.hh

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/*
 * Copyright (C) 2016 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 GAZEBO_ROS_ARIAC_TASK_MANAGER_PLUGIN_HH_
#define GAZEBO_ROS_ARIAC_TASK_MANAGER_PLUGIN_HH_

#include <memory>
#include <gazebo/common/Plugin.hh>
#include <gazebo/physics/PhysicsTypes.hh>
#include <osrf_gear/SubmitTray.h>
#include <sdf/sdf.hh>
#include <std_msgs/String.h>
#include <std_srvs/Trigger.h>

namespace gazebo
{
  // Forward declare private data class
  class ROSAriacTaskManagerPluginPrivate;

  class GAZEBO_VISIBLE ROSAriacTaskManagerPlugin : public WorldPlugin
  {
    public: ROSAriacTaskManagerPlugin();

    public: virtual ~ROSAriacTaskManagerPlugin();

    // Documentation inherited.
    public: virtual void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf);

    protected: void OnUpdate();

    protected: void ProcessGoalsToAnnounce();

    protected: void ControlConveyorBelt(double velocity);

    protected: void PopulateConveyorBelt();

    public: bool HandleStartService(
      std_srvs::Trigger::Request & req, std_srvs::Trigger::Response & res);

    public: bool HandleSubmitTrayService(
      osrf_gear::SubmitTray::Request & req, osrf_gear::SubmitTray::Response & res);

    protected: void AssignGoal(const ariac::Goal & goal);

    protected: void StopCurrentGoal();

    private: std::unique_ptr<ROSAriacTaskManagerPluginPrivate> dataPtr;
  };
}
#endif