VisualUtils.hh

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/*
 *  Copyright (C) 2018 João Borrego
 *
 *  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.
 */

// Gazebo
#include <gazebo/common/Events.hh>
#include "gazebo/common/Plugin.hh"
#include "gazebo/common/SystemPaths.hh"
#include <gazebo/msgs/msgs.hh>
#include "gazebo/rendering/RenderEngine.hh"
#include <gazebo/rendering/Visual.hh>
#include <gazebo/transport/Node.hh>

// Boost - for convenient string split
#include <boost/algorithm/string/classification.hpp>
#include <boost/algorithm/string/split.hpp>
// Mutex
#include <mutex>
// Shuffle vector
#include <algorithm>
#include <random>
#include <chrono>

// Custom messages
#include "visual_utils_request.pb.h"
#include "visual_utils_response.pb.h"

namespace VisualUtils {

#define REQUEST_TOPIC   "~/gap/visual_utils"
#define RESPONSE_TOPIC  "~/gap/visual_utils/response"

#define UPDATE          gap::msgs::VisualUtilsRequest::UPDATE
#define DEFAULT_POSE    gap::msgs::VisualUtilsRequest::DEFAULT_POSE
#define MATERIAL        gap::msgs::VisualUtilsRequest::MATERIAL_PREFIX

#define UPDATED         gap::msgs::VisualUtilsResponse::UPDATED

// Default parameters

#define DEFAULT_NAME    "default"

}

namespace gazebo{

    typedef const boost::shared_ptr<const gap::msgs::VisualUtilsRequest>
        VisualUtilsRequestPtr;
    typedef const boost::shared_ptr<const gap::msgs::VisualUtilsResponse>
        VisualUtilsResponsePtr;

    // Forward declaration of private data class
    class VisualUtilsPrivate;

    class VisualUtils : public VisualPlugin {

        public: VisualUtils();

        public: virtual ~VisualUtils();

        public: virtual void Load(
            rendering::VisualPtr _visual,
            sdf::ElementPtr _sdf);

        public: void Update();

        public: void onRequest(VisualUtilsRequestPtr & _msg);

        private: std::unique_ptr<VisualUtilsPrivate> dataPtr;

        private: void loadResources();

        private: void randomMaterialName(std::string & name);
    };
}