BooPlugin.hh

/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/


#ifndef __SWARM_BOO_PLUGIN_HH__
#define __SWARM_BOO_PLUGIN_HH__

#include <map>
#include <mutex>
#include <string>
#include <gazebo/common/Events.hh>
#include <gazebo/common/Plugin.hh>
#include <gazebo/common/Time.hh>
#include <gazebo/common/UpdateInfo.hh>
#include <gazebo/physics/PhysicsTypes.hh>
#include <ignition/math/Vector3.hh>
#include <sdf/sdf.hh>
#include "swarm/RobotPlugin.hh"
#include "swarm/SwarmTypes.hh"

namespace swarm
{
  class BooPlugin : public swarm::RobotPlugin
  {
    public: BooPlugin();

    public: virtual ~BooPlugin();

    private: virtual void OnUpdateEnd();

    // Documentation inherited.
    private: virtual void Load(gazebo::physics::ModelPtr _model,
                               sdf::ElementPtr _sdf);

    private: void OnDataReceived(const std::string &_srcAddress,
                                 const std::string &_dstAddress,
                                 const uint32_t _dstPort,
                                 const std::string &_data);

    private: ignition::math::Vector3i PosToGrid(ignition::math::Vector3d _pos);

    private: bool found = false;

    private: gazebo::physics::ModelPtr lostPerson;

    private: std::map<gazebo::common::Time,
                      ignition::math::Vector3i> lostPersonBuffer;

    private: ignition::math::Vector3i lastPersonPosInGrid;

    private: gazebo::event::ConnectionPtr updateEndConnection;

    // \brief Mutex to avoid race conditions.
    private: std::mutex mutex;

    private: double cellSize = 1;

    private: gazebo::common::Time maxDt = 30.0;
  };
}
#endif