#ifndef POI_MANAGER_H
#define POI_MANAGER_H

#include <list>

#include <homer_mapnav_msgs/PointOfInterest.h>
#include <homer_mapnav_msgs/ModifyPOI.h>

#include <ros/ros.h>

/** @class PoiManager
 * @author Malte Knauf, David Gossow
 * @brief This class manages the List of points of interest (POIs)
  *
  * This class keeps a list of all POIs within the current map. It provides the usual functions
  * to edit the list.
  */
class PoiManager {

  public:

    /** The constructor of the class. */
    PoiManager(ros::NodeHandle* nh);

    /** constructor initializing the poi list */
    PoiManager( std::vector< homer_mapnav_msgs::PointOfInterest > pois );

    /** Does nothing. */
    ~PoiManager() {}

    /** Adds a new POI to the list if no POI with the same name exists
      * @param poi pointer to the PointOfInterest message with the POI to be added
      * @return true if successful, false otherwise
      */
    bool addPointOfInterest( const homer_mapnav_msgs::PointOfInterest::ConstPtr& poi );

    /** Replaces a POI with a new one
      * @param poi pointer with the PointOfInterest to be inserted
      *            the POI with the same ID as the new one is first deleted
      * @return true if the old POI was found and could be deleted
      *         false otherwise
      */
    bool modifyPointOfInterest( const homer_mapnav_msgs::ModifyPOI::ConstPtr& poi );

    /** Deletes a POI with a certain name from the list
      * @param name Name of the POI to be deleted
      * @return true if the POI was found and could be deleted
      *         false otherwise
      */
    bool deletePointOfInterest( std::string name );

    /**
     * @brief place the current poi list
     * @param poilist new poi list
     */
    void replacePOIList(std::vector<homer_mapnav_msgs::PointOfInterest> poilist);


    /** Returns current POI list
      * @return the POI list
      */
    std::vector< homer_mapnav_msgs::PointOfInterest > getList();

  private:

    /** Looks for POI with name in the list
      * @param name Name of the POI
      */
    bool poiExists( std::string name );

    /**
     * @brief Publishes a PointsOfInterest Message with current POIs

     */
    void broadcastPoiList();

    /** The copy constructor of the class.
      * It's kept private, because it will never be used.
      */
    PoiManager( const PoiManager& instance );

    /** Holds the POI vector */
    std::vector< homer_mapnav_msgs::PointOfInterest > m_Pois;

    /** publisher that publishes the current poi list */
    ros::Publisher m_POIsPublisher;

};
#endif