mesh_from_pointcloud_alg_node.cpp

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#include "mesh_from_pointcloud_alg_node.h"

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

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  this->get_mesh_server_ = this->public_node_handle_.advertiseService("get_mesh", &MeshFromPointcloudAlgNode::get_meshCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void MeshFromPointcloudAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
}

/*  [subscriber callbacks] */

/*  [service callbacks] */
bool MeshFromPointcloudAlgNode::get_meshCallback(iri_perception_msgs::PointCloud2ToMesh::Request &req, iri_perception_msgs::PointCloud2ToMesh::Response &res) 
{ 
    ROS_INFO("MeshFromPointcloudAlgNode::get_meshCallback: New Request Received!"); 

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

    sensor_msgs::PointCloud2::ConstPtr point_cloud_ConstPtr;
    point_cloud_ConstPtr = boost::make_shared<sensor_msgs::PointCloud2>(req.input);

    if(!alg_.compute_mesh(point_cloud_ConstPtr))
    {
        ROS_INFO("MeshFromPointcloudAlgNode::get_meshCallback: ERROR: alg is not on run mode yet.");
    }
    // TODO: There is not response right now
    // It would be great to return the mesh as a message or the url to the stored file.
    //res.mesh = *alg_.get_mesh();

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

    return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void MeshFromPointcloudAlgNode::addNodeDiagnostics(void)
{
}

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