Neighbor.hpp

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/*
 * Neighbor.hpp
 *
 *  Created on: Feb 12, 2012
 *      Author: mriedel
 */


// This is a quick & dirty implementation for IAS Deadline. HAS TO BE REWRITTEN!!!

#ifndef NEIGHBOR_HPP_
#define NEIGHBOR_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <telekyb_base/Messages.hpp>

#include <telekyb_base/Time.hpp>

#include <ros/ros.h>

#include <geometry_msgs/PointStamped.h>
#include <std_msgs/Bool.h>

#define VP_TOPIC "VirtualPoint"
#define INITDONE_TOPIC "VP_InitDone"
#define CONDITIONDONE_TOPIC "VP_ConditionDone"

using namespace TELEKYB_NAMESPACE;

namespace telekyb_behavior {

class Neighbor {
protected:
        int robotID;
        Position3D virtualPoint;
        bool receivedOnceVar;
        bool initDoneVar;

        bool formationConditionDoneVar;


        // Nodehandle for communication
        ros::NodeHandle nodeHandle;
        ros::Subscriber vpSub;
        ros::Subscriber initDoneSub;
        ros::Subscriber formationConditionDoneSub;

        // Messagetimer
        Timer messageTimer;


        void neighborVPCallback(const geometry_msgs::PointStamped::ConstPtr& stateMsg);
        void neighborInitDone(const std_msgs::Bool::ConstPtr& msg);
        void neighborFormationConditionDone(const std_msgs::Bool::ConstPtr& msg);

public:
        Neighbor(int robotID_);
        virtual ~Neighbor();

        Position3D getVirtualPoint() const;
        bool receivedOnce() const;
        bool initDone() const;
        bool formationConditionDone() const;

        Time getElapsedMessageTime() const;


};

}

#endif /* NEIGHBOR_HPP_ */