apply_tof_calibration_alg_node.cpp

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#include "apply_tof_calibration_alg_node.h"

ApplyTofCalibrationAlgNode::ApplyTofCalibrationAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<ApplyTofCalibrationAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  calibrated_pcl2_publisher_ = public_node_handle_.advertise<sensor_msgs::PointCloud2>("output", 1);
  
  // [init subscribers]
  uncalibrated_pcl2_subscriber_ = public_node_handle_.subscribe("input", 1, &ApplyTofCalibrationAlgNode::uncalibrated_pcl2_callback, this);
  
  // [init services]
  get_pointcloud_server_ = public_node_handle_.advertiseService("get_pointcloud", &ApplyTofCalibrationAlgNode::get_pointcloudCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]

}

ApplyTofCalibrationAlgNode::~ApplyTofCalibrationAlgNode(void)
{
  // [free dynamic memory]

}

void ApplyTofCalibrationAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  //this->PointCloud2_msg.data = my_var;
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
  //  this->calibrated_pcl2_publisher_.publish(this->PointCloud2_msg_);
}

/*  [subscriber callbacks] */
void ApplyTofCalibrationAlgNode::uncalibrated_pcl2_callback(const sensor_msgs::PointCloud2::ConstPtr& msg) 
{ 
  // ROS_INFO("ApplyTofCalibrationAlgNode::uncalibrated_pcl2_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  alg_.lock(); 
  uncalibrated_pcl2_mutex_.enter(); 

  if (!alg_.apply_tof_calibration_to_pcl2(msg))
  {
    ROS_INFO("ApplyTofCalibrationAlgNode::uncalibrated_pcl2_callback: ERROR: alg is not on run mode yet.");
  }

  calibrated_pcl2_publisher_.publish(*alg_.get_calibrated_pcl());
  
  // std::cout << msg->__s_getDataType() << std::endl;
  
  //unlock previously blocked shared variables 
  alg_.unlock(); 
  uncalibrated_pcl2_mutex_.exit(); 

}

/*  [service callbacks] */
bool ApplyTofCalibrationAlgNode::get_pointcloudCallback(iri_perception_msgs::CapturePointCloud2::Request &req, iri_perception_msgs::CapturePointCloud2::Response &res) 
{ 
  ROS_INFO("ApplyTofCalibrationAlgNode::get_pointcloudCallback: New Request Received!"); 

  //use appropiate mutex to shared variables if necessary 
  this->alg_.lock(); 
  this->get_pointcloud_mutex_.enter(); 

  //if(!alg_.get_pointcloud()) 
  //{ 
    //ROS_INFO("ApplyTofCalibrationAlgNode::get_pointcloudCallback: ERROR: alg is not on run mode yet."); 
  //} 

  res.pointcloud = *alg_.get_calibrated_pcl();

  //unlock previously blocked shared variables 
  this->alg_.unlock(); 
  this->get_pointcloud_mutex_.exit(); 

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

void ApplyTofCalibrationAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void ApplyTofCalibrationAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<ApplyTofCalibrationAlgNode>(argc, argv, "apply_tof_calibration_alg_node");
}