get_board_information_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _get_board_information_alg_node_h_
#define _get_board_information_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "get_board_information_alg.h"

// [publisher subscriber headers]
#include <estirabot_msgs/ImagePoint.h>
#include <pcl_msgs/ModelCoefficients.h>
#include <sensor_msgs/Image.h>
#include <sensor_msgs/PointCloud2.h>

// [service client headers]
#include <iri_clean_board/BoardInfo.h>

// [action server client headers]

// other
#include <opencv2/highgui/highgui.hpp>

// events
#include "eventexceptions.h"
#include "event.h"

class GetBoardInformationAlgNode : public algorithm_base::IriBaseAlgorithm<GetBoardInformationAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher believe_status_publisher_;
    sensor_msgs::Image Image_msg_;
    ros::Publisher pointcloud_out_publisher_;
    sensor_msgs::PointCloud2 PointCloud2_msg_;

    // [subscriber attributes]
    ros::Subscriber unreachable_position_subscriber_;
    void unreachable_position_callback(const estirabot_msgs::ImagePoint::ConstPtr& msg);
    CMutex unreachable_position_mutex_;
    ros::Subscriber plane_coefficients_subscriber_;
    void plane_coefficients_callback(const pcl_msgs::ModelCoefficients::ConstPtr& msg);
    CMutex plane_coefficients_mutex_;
    ros::Subscriber pointcloud_in_subscriber_;
    void pointcloud_in_callback(const sensor_msgs::PointCloud2::ConstPtr& msg);
    CMutex pointcloud_in_mutex_;
    ros::Subscriber image_in_subscriber_;
    void image_in_callback(const sensor_msgs::Image::ConstPtr& msg);
    CMutex image_in_mutex_;

    // [service attributes]
    ros::ServiceServer get_board_info_server_;
    bool get_board_infoCallback(iri_clean_board::BoardInfo::Request &req, iri_clean_board::BoardInfo::Response &res);
    CMutex get_board_info_mutex_;

    // [client attributes]

    // [action server attributes];

    // [action client attributes]
    
    // other
    bool is_service_waiting;
    bool waiting_for_pointcloud;
    bool waiting_for_image;
    bool waiting_for_coefficients;
    
    sensor_msgs::PointCloud2 last_pointcloud;
    sensor_msgs::PointCloud2 current_pointcloud;
    
    sensor_msgs::Image last_image;
    sensor_msgs::Image current_image;
    
    pcl_msgs::ModelCoefficients last_plane_coeffs;
    pcl_msgs::ModelCoefficients current_plane_coeffs;
    
    CEvent EventInfoReady, EventServiceWaiting;
    
    void publish_a_pointcloud();

  public:
    GetBoardInformationAlgNode(void);

    ~GetBoardInformationAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif