Program Listing for File route_plugin.h

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#ifndef MAPVIZ_PLUGINS__ROUTE_PLUGIN_H_
#define MAPVIZ_PLUGINS__ROUTE_PLUGIN_H_

#include <mapviz/mapviz_plugin.h>

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

// ROS libraries
#include <rclcpp/rclcpp.hpp>
#include <tf2/transform_datatypes.h>
#include <marti_nav_msgs/msg/route_position.hpp>
#include <mapviz/map_canvas.h>
#include <swri_route_util/route.h>

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

// 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();
  ~RoutePlugin() override = default;

  bool Initialize(QGLWidget* canvas) override;
  void Shutdown() override {}

  void Draw(double x, double y, double scale) override;

  void Transform() override {}

  void LoadConfig(const YAML::Node& node, const std::string& path) override;
  void SaveConfig(YAML::Emitter& emitter, const std::string& path) override;
  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) override;

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

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

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

  DrawStyle draw_style_;

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

  rclcpp::Subscription<marti_nav_msgs::msg::Route>::SharedPtr route_sub_;
  rclcpp::Subscription<marti_nav_msgs::msg::RoutePosition>::SharedPtr position_sub_;

  swri_route_util::Route src_route_;
  // marti_nav_msgs::RoutePositionConstPtr src_route_position_;
  marti_nav_msgs::msg::RoutePosition::SharedPtr src_route_position_;

  void RouteCallback(const marti_nav_msgs::msg::Route::SharedPtr msg);
  void PositionCallback(const marti_nav_msgs::msg::RoutePosition::SharedPtr msg);
};
}   // namespace mapviz_plugins

#endif  // MAPVIZ_PLUGINS__ROUTE_PLUGIN_H_