server.h

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#ifndef ED_SERVER_H_
#define ED_SERVER_H_
 
#include "ed/types.h"
 
#include "ed/property_key_db.h"
#include <ed/models/model_loader.h>
 
 
#include <diagnostic_updater/diagnostic_updater.h>
 
#include <ros/publisher.h>
 
#include <tf2_ros/buffer.h>
 
#include "tue/config/configuration.h"
 
#include <map>
#include <queue>
#include <vector>
 
namespace tf2_ros
{
 
class TransformListener;
 
}
 
namespace ed
{
 
class Server
{
 
public:
    Server();
    virtual ~Server();
 
    void configure(tue::Configuration& config, bool reconfigure = false);
 
    void initialize();
 
    void reset(bool keep_all_shapes = false);
 
    void update();
 
    void update(const ed::UpdateRequest& req);
 
    void update(const std::string& update_str, std::string& error);
 
    void storeEntityMeasurements(const std::string& path) const;
 
    WorldModelConstPtr world_model() const
    {
        boost::lock_guard<boost::mutex> lg(mutex_world_);
        return ed::make_shared<const WorldModel>(*world_model_);
    }
 
    PluginContainerPtr loadPlugin(const std::string& plugin_name, tue::Configuration config);
 
    void stepPlugins();
 
    void publishStatistics();
 
    const PropertyKeyDBEntry* getPropertyKeyDBEntry(const std::string& name) const
    {
        return property_key_db_.getPropertyKeyDBEntry(name);
    }
 
private:
 
    mutable boost::mutex mutex_world_;
    // World model datastructure
    WorldModelConstPtr world_model_;
 
    std::string world_name_;
 
    std::queue<UpdateRequest> update_requests_;
 
    void initializeWorld();
 
    models::ModelLoader model_loader_;
 
    std::map<std::string, SensorModulePtr> sensors_;
 
    PropertyKeyDB property_key_db_;
 
    std::map<std::string, PluginContainerPtr> plugin_containers_;
    std::map<std::string, PluginContainerPtr> inactive_plugin_containers_;
 
    diagnostic_updater::Updater updater_;
    ros::Publisher pub_stats_;
 
    TFBufferPtr tf_buffer_;
    TFBufferConstPtr tf_buffer_const_;
    ed::shared_ptr<tf2_ros::TransformListener> tf_listener_;
};
 
}
 
#endif