gui_plugin.h

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#ifndef ED_GUI_PLUGIN_H_
#define ED_GUI_PLUGIN_H_
 
#include <ed/plugin.h>
 
#include <ed/types.h>
 
// Communication
#include <ros/callback_queue.h>
#include <ros/service_server.h>
#include <ros/publisher.h>
 
// Configuration
#include <tue/config/configuration.h>
 
// Services
#include <ed_msgs/GetMeasurements.h>
#include <ed_msgs/SetLabel.h>
#include <ed_msgs/RaiseEvent.h>
#include <ed_msgs/GetGUICommand.h>
 
// Map drawing
#include <geolib/sensors/DepthCamera.h>
 
#include <ed/event_clock.h>
 
#include <map>
 
class GUIPlugin : public ed::Plugin
{
 
public:
 
    GUIPlugin();
 
    virtual ~GUIPlugin();
 
    void configure(tue::Configuration config);
 
    void initialize();
 
    void process(const ed::WorldModel& world, ed::UpdateRequest& req);
 
    ed::EventClock trigger_map_publish_;
 
    const ed::WorldModel* world_model_;
 
 
    // Map drawing
 
    geo::DepthCamera projector_;
 
    geo::Pose3D projector_pose_;
 
    cv::Mat map_image_;
 
    // Communication
 
    ros::CallbackQueue cb_queue_;
 
    ros::ServiceServer srv_get_measurements_;
 
    ros::ServiceServer srv_set_label_;
 
    ros::ServiceServer srv_raise_event_;
 
    ros::ServiceServer srv_get_command_;
 
    ros::Publisher pub_image_map_;
 
    bool srvGetMeasurements(ed_msgs::GetMeasurements::Request& req, ed_msgs::GetMeasurements::Response& res);
 
    bool srvSetLabel(ed_msgs::SetLabel::Request& req, ed_msgs::SetLabel::Response& res);
 
    bool srvRaiseEvent(ed_msgs::RaiseEvent::Request& req, ed_msgs::RaiseEvent::Response& res);
 
    bool srvGetCommand(ed_msgs::GetGUICommand::Request& req, ed_msgs::GetGUICommand::Response& res);
 
 
    void handleRequests();
 
    void publishMapImage();
 
    // Click
 
    cv::Point2i p_click_;
 
    ros::Time t_last_click_;
 
    // COMMAND
 
    std::string command_;
 
    std::string command_id_;
 
    std::map<std::string, std::string> command_params_;
 
    ros::Time t_command_;
 
    // SELECTION
 
    ed::UUID selected_id_;
 
 
    // HELPER FUNCTIONS
 
    ed::UUID getEntityFromClick(const cv::Point2i& p) const;
 
    cv::Point2i coordinateToPixel(const geo::Vector3& p) const;
 
    cv::Point2i coordinateToPixel(double x, double y, double z) const
    {
        return coordinateToPixel(geo::Vector3(x, y, z));
    }
 
    cv::Point2i coordinateToPixel(const pcl::PointXYZ& p) const
    {
        return coordinateToPixel(p.x, p.y, p.z);
    }
 
};
 
#endif