but_server.h

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/******************************************************************************
 * \file
 *
 * $Id: but_server.h 2537 2013-02-21 15:57:57Z stancl $
 *
 * Modified by dcgm-robotics@FIT group
 *
 * Author: Vit Stancl (stancl@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd/mm/2012
 * 
 * This code is derived from the OctoMap server provided by A. Hornung.
 * Please, see the original comments below.
 */

#pragma once
#ifndef SERVER_H
#define SERVER_H

#include <ros/ros.h>
#include <visualization_msgs/MarkerArray.h>
#include <std_msgs/ColorRGBA.h>

//#include <sensor_msgs/CameraInfo.h>
//#include <std_srvs/Empty.h>

//#include <pcl/point_types.h>
//#include <pcl/io/pcd_io.h>

#include <srs_env_model/but_server/plugins/cmap_plugin.h>
#include <srs_env_model/but_server/plugins/point_cloud_plugin.h>
#include <srs_env_model/but_server/plugins/octomap_plugin.h>
#include <srs_env_model/but_server/plugins/collision_object_plugin.h>
#include <srs_env_model/but_server/plugins/imarkers_plugin.h>
#include <srs_env_model/but_server/plugins/marker_array_plugin.h>
#include <srs_env_model/but_server/plugins/limited_point_cloud_plugin.h>
#include <srs_env_model/but_server/plugins/compressed_point_cloud_plugin.h>
#include <srs_env_model/but_server/plugins/objtree_plugin.h>
#include <srs_env_model/but_server/plugins/collision_grid_plugin.h>

#include <srs_env_model/ButServerPause.h>
#include <srs_env_model/UseInputColor.h>

// Old interactive markers plugin used for testing
#include <srs_env_model/but_server/plugins/old_imarkers_plugin.h>

#define _EXAMPLES_
#ifdef _EXAMPLES_
#       include <srs_env_model/but_server/plugins/example_plugin.h>
#endif


namespace srs_env_model
{

class CButServer
{
public:
    typedef pcl::PointCloud<pcl::PointXYZ> tPCLPointCloud;

    CButServer(const std::string& filename= "");

    virtual ~CButServer();

    void reset();

    void pause( bool bPause );


protected:
    void publishAll(const ros::Time& rostime );

    void onOcMapDataChanged( tButServerOcMapConstPtr mapdata, const ros::Time & stamp )
    {
        publishAll(stamp);
    }

    bool onReset(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
    {
        reset();
        return true;
    }

    bool onPause( ButServerPause::Request & request, ButServerPause::Response & response );

    void publishPlugins(const ros::Time& rostime);

        bool onUseInputColor(srs_env_model::UseInputColor::Request & req, srs_env_model::UseInputColor::Response & res );


protected:
    bool m_bIsPaused;

    ros::NodeHandle m_nh;

    bool m_latchedTopics;

    int m_numPCFramesProcessed;

    int m_frameCounter;

    //======================================================================================================
    // Services

    ros::ServiceServer m_serviceReset;

    ros::ServiceServer m_servicePause;

        ros::ServiceServer m_serviceUseInputColor;

    //======================================================================================================
    // Plugins

    typedef std::vector<CServerPluginBase * > tVecPlugins;

    tVecPlugins m_plugins;

#define FOR_ALL_PLUGINS( X ) { for( tVecPlugins::iterator p = m_plugins.begin(); p != m_plugins.end(); ++p ){ (*p)->X; } }
#define FOR_ALL_PLUGINS_PARAM( X, Y ) { for( tVecPlugins::iterator p = m_plugins.begin(); p != m_plugins.end(); ++p ){ (*p)->X(Y); } }

    boost::shared_ptr< CCMapPlugin > m_plugCMap;

    boost::shared_ptr< CPointCloudPlugin > m_plugInputPointCloud,
                                                        m_plugOcMapPointCloud;
    boost::shared_ptr< CPointCloudPlugin > m_plugVisiblePointCloud;

    boost::shared_ptr< COctoMapPlugin > m_plugOctoMap;

    boost::shared_ptr< CCollisionObjectPlugin > m_plugCollisionObject;

    boost::shared_ptr< CCollisionGridPlugin > m_plugMap2D;

    boost::shared_ptr< CIMarkersPlugin > m_plugIMarkers;

    boost::shared_ptr< CMarkerArrayPlugin > m_plugMarkerArray;
    
    boost::shared_ptr< CObjTreePlugin > m_plugObjTree;

    boost::shared_ptr< COldIMarkersPlugin > m_plugOldIMarkers;

    boost::shared_ptr< CCompressedPointCloudPlugin > m_plugCompressedPointCloud;

    bool m_bUseOldIMP;

#ifdef _EXAMPLES_

    boost::shared_ptr< CExamplePlugin > m_plugExample;

    boost::shared_ptr< CExampleCrawlerPlugin > m_plugExampleCrawler;
#endif
};


} // namespace srs_env_model

#endif // SERVER_H