Added base class to hold the service server in the auv_system

-Added the MetricServices class to serve has a base class for the metrics that needs to be fetched by the system.
- The has a pointer towards  a AUVStateManager to have an interface to get the current state of the system via the getCurrentStates() method.
- Four callbacks are defined. Two of them are used as the service callback and they each call a virtual method that will need to be overridden by a child class.
- In the callback, two of them is linked to the real measure of the metric will the other one is the service to get a predicted value of the metric for given actions.

ros_queue_experiments/include/ros_queue_experiments/metric_services.hpp

@@ -0,0 +1,45 @@
+#pragma once
+
+#include "ros/ros.h"
+
+#include <string>
+#include <memory>
+
+#include "auv_state_manager.hpp"
+
+#include <ros_queue_msgs/FloatRequest.h>
+#include <ros_queue_msgs/MetricTransmissionVectorPredictions.h>
+#include <ros_queue_experiments/AuvStates.h>
+
+
+class MetricServices
+{
+    public:
+        MetricServices(ros::NodeHandle nh, std::string metric_name, std::shared_ptr<AUVStateManager> auv_state_manager);
+
+    protected:
+        std::string metric_name_;
+
+        ros::NodeHandle nh_;
+
+        ros::ServiceServer real_metric_service_;
+        ros::ServiceServer expected_metric_service_;
+
+        std::shared_ptr<AUVStateManager> auv_state_manager_;
+
+        virtual bool realMetricCallback(ros_queue_msgs::FloatRequest::Request& req, 
+                                        ros_queue_msgs::FloatRequest::Response& res) = 0;
+
+        virtual bool expectedMetricCallback(ros_queue_msgs::MetricTransmissionVectorPredictions::Request& req, 
+                                            ros_queue_msgs::MetricTransmissionVectorPredictions::Response& res) =0;
+
+        ros_queue_experiments::AuvStates getCurrentStates();
+    private:
+        bool realServiceMetricCallback(ros_queue_msgs::FloatRequest::Request& req, 
+                                       ros_queue_msgs::FloatRequest::Response& res);
+
+        bool expectedServiceMetricCallback(ros_queue_msgs::MetricTransmissionVectorPredictions::Request& req, 
+                                           ros_queue_msgs::MetricTransmissionVectorPredictions::Response& res);
+
+
+};

ros_queue_experiments/src/metric_services.cpp

@@ -0,0 +1,30 @@
+#include "ros_queue_experiments/metric_services.hpp"
+
+MetricServices::MetricServices(ros::NodeHandle nh, std::string metric_name, std::shared_ptr<AUVStateManager> auv_state_manager): nh_(nh), metric_name_(metric_name), auv_state_manager_(auv_state_manager)
+{
+    real_metric_service_ = nh_.advertiseService(metric_name_ + "/real_metric", &MetricServices::realServiceMetricCallback, this);
+    expected_metric_service_ = nh_.advertiseService(metric_name_ + "/expected_metric", &MetricServices::expectedServiceMetricCallback, this);
+}
+
+
+bool MetricServices::realServiceMetricCallback(ros_queue_msgs::FloatRequest::Request& req, 
+                                              ros_queue_msgs::FloatRequest::Response& res)
+{
+    return realMetricCallback(req, res);
+}
+
+bool MetricServices::expectedServiceMetricCallback(ros_queue_msgs::MetricTransmissionVectorPredictions::Request& req, 
+                                                   ros_queue_msgs::MetricTransmissionVectorPredictions::Response& res)
+{
+    return expectedMetricCallback(req, res);
+}
+
+ros_queue_experiments::AuvStates MetricServices::getCurrentStates()
+{
+    if(auv_state_manager_ == nullptr)
+    {
+        ROS_ERROR("AUVStateManager is not set");
+        return ros_queue_experiments::AuvStates();
+    }
+    return auv_state_manager_->getCurrentStates();
+}