service_manager.h

/*
 *  ______                   __  __              __
 * /\  _  \           __    /\ \/\ \            /\ \__
 * \ \ \L\ \  __  __ /\_\   \_\ \ \ \____    ___\ \ ,_\   ____
 *  \ \  __ \/\ \/\ \\/\ \  /'_` \ \ '__`\  / __`\ \ \/  /',__\
 *   \ \ \/\ \ \ \_/ |\ \ \/\ \L\ \ \ \L\ \/\ \L\ \ \ \_/\__, `\
 *    \ \_\ \_\ \___/  \ \_\ \___,_\ \_,__/\ \____/\ \__\/\____/
 *     \/_/\/_/\/__/    \/_/\/__,_ /\/___/  \/___/  \/__/\/___/
 * @copyright Copyright 2017 Avidbots Corp.
 * @name   model_spawner.h
 * @brief  Definition for model spawner
 * @author Chunshang Li
 *
 * Software License Agreement (BSD License)
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 *  Copyright (c) 2017, Avidbots Corp.
 *  All rights reserved.
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#include <flatland_msgs/DeleteModel.h>
#include <flatland_msgs/MoveModel.h>
#include <flatland_msgs/SpawnModel.h>
#include <flatland_server/simulation_manager.h>
#include <flatland_server/world.h>
#include <ros/ros.h>
#include <std_srvs/Empty.h>

#ifndef FLATLAND_PLUGIN_SERVICE_MANAGER_H
#define FLATLAND_PLUGIN_SERVICE_MANAGER_H

namespace flatland_server {

class SimulationManager;

class ServiceManager {
 public:
  World *world_;                
  SimulationManager *sim_man_;  

  ros::ServiceServer spawn_model_service_;   
  ros::ServiceServer delete_model_service_;  
  ros::ServiceServer move_model_service_;    
  ros::ServiceServer pause_service_;   
  ros::ServiceServer resume_service_;  
  ros::ServiceServer toggle_pause_service_;  

  ServiceManager(SimulationManager *sim_man, World *world);

  bool SpawnModel(flatland_msgs::SpawnModel::Request &request,
                  flatland_msgs::SpawnModel::Response &response);

  bool DeleteModel(flatland_msgs::DeleteModel::Request &request,
                   flatland_msgs::DeleteModel::Response &response);

  bool MoveModel(flatland_msgs::MoveModel::Request &request,
                 flatland_msgs::MoveModel::Response &response);

  bool Pause(std_srvs::Empty::Request &request,
             std_srvs::Empty::Response &response);

  bool Resume(std_srvs::Empty::Request &request,
              std_srvs::Empty::Response &response);

  bool TogglePause(std_srvs::Empty::Request &request,
                   std_srvs::Empty::Response &response);
};
};
#endif