gui_server_plugin.h

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#ifndef ED_GUI_SERVER_PLUGIN_H_
#define ED_GUI_SERVER_PLUGIN_H_
 
#include <ed/plugin.h>
 
#include <ed_gui_server_msgs/QueryEntities.h>
#include <ed_gui_server_msgs/QueryMeshes.h>
#include <ed_gui_server_msgs/Interact.h>
#include <ed_gui_server_msgs/GetEntityInfo.h>
#include <ed_gui_server_msgs/Map.h>
 
#include <geolib/Shape.h>
 
#include <ros/callback_queue.h>
#include <ros/service_server.h>
#include <ros/publisher.h>
 
#include "robot.h"
 
class GUIServerPlugin : public ed::Plugin
{
 
public:
 
    GUIServerPlugin();
 
    virtual ~GUIServerPlugin();
 
    void initialize(ed::InitData& init);
 
    void process(const ed::WorldModel& world, ed::UpdateRequest& req);
 
private:
 
    //
 
    const ed::WorldModel* world_model_;
 
    ros::CallbackQueue cb_queue_;
 
    ros::Publisher pub_entities_;
 
    ros::ServiceServer srv_query_meshes_;
 
    ed::shared_ptr<gui::Robot> robot_;
 
    geo::Shape person_shape_;
 
    bool srvQueryMeshes(const ed_gui_server_msgs::QueryMeshes::Request& ros_req,
                         ed_gui_server_msgs::QueryMeshes::Response& ros_res);
 
    ros::ServiceServer srv_query_entities_;
 
    bool srvQueryEntities(const ed_gui_server_msgs::QueryEntities::Request& ros_req,
                          ed_gui_server_msgs::QueryEntities::Response& ros_res);
 
    ros::ServiceServer srv_get_entity_info_;
 
    bool srvGetEntityInfo(const ed_gui_server_msgs::GetEntityInfo::Request& ros_req,
                          ed_gui_server_msgs::GetEntityInfo::Response& ros_res);
 
    ros::ServiceServer srv_interact_;
 
    bool srvInteract(const ed_gui_server_msgs::Interact::Request& ros_req,
                          ed_gui_server_msgs::Interact::Response& ros_res);
 
    void storeMeasurement(const std::string& id, const std::string& type);
 
 
    void entityToMsg(const ed::EntityConstPtr& e, ed_gui_server_msgs::EntityInfo& msg);
 
    ros::ServiceServer srv_map_;
 
    bool srvMap(const ed_gui_server_msgs::Map::Request& req,
                ed_gui_server_msgs::Map::Response& rep);
 
};
 
#endif