object_detection_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 _object_detection_alg_node_h_
#define _object_detection_alg_node_h_

//IRI-ROS
#include <iri_base_algorithm/iri_base_algorithm.h>
#include "object_detection_alg.h"

//IRI external library
#include "object_detection.h"
#include "detection_functions.h"

//required headers for image I/O
//#include <ros/ros.h>
#include <image_transport/image_transport.h>
#include <cv_bridge/cv_bridge.h>
#include <sensor_msgs/image_encodings.h>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/highgui/highgui.hpp>

// [publisher subscriber headers]
#include <geometry_msgs/PoseStamped.h>

// [service client headers]

// [action server client headers]
#include <iri_common_drivers_msgs/ttsAction.h>
#include <tibi_dabo_msgs/sequenceAction.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <iri_nav_msgs/followTargetAction.h>

class ObjectDetectionAlgNode : public algorithm_base::IriBaseAlgorithm<ObjectDetectionAlgorithm>
{
  private:
          
          image_transport::ImageTransport it_;
          
    // [publisher attributes]
    ros::Publisher target_pos_publisher_;
    geometry_msgs::PoseStamped PoseStamped_msg_;
    image_transport::Publisher image_pub_;

    // [subscriber attributes]
        image_transport::Subscriber image_sub_;
        void image_callback(const sensor_msgs::ImageConstPtr& msg);
        CMutex image_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<iri_common_drivers_msgs::ttsAction> loquendo_client_;
    iri_common_drivers_msgs::ttsGoal loquendo_goal_;
    void loquendoMakeActionRequest(const std::string & msg);
    void loquendoDone(const actionlib::SimpleClientGoalState& state,  const iri_common_drivers_msgs::ttsResultConstPtr& result);
    void loquendoActive();
    void loquendoFeedback(const iri_common_drivers_msgs::ttsFeedbackConstPtr& feedback);

    actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> hri_client_;
    void hriMakeActionRequest(const std::vector<std::string> & xml_files);
    void hriDone(const actionlib::SimpleClientGoalState& state,  const tibi_dabo_msgs::sequenceResultConstPtr& result);
    void hriActive();
    void hriFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback);

    actionlib::SimpleActionClient<iri_nav_msgs::followTargetAction> follow_target_client_;
    iri_nav_msgs::followTargetGoal follow_target_goal_;
    void follow_targetMakeActionRequest();
    void follow_targetDone(const actionlib::SimpleClientGoalState& state,  const iri_nav_msgs::followTargetResultConstPtr& result);
    void follow_targetActive();
    void follow_targetFeedback(const iri_nav_msgs::followTargetFeedbackConstPtr& feedback);

    
    //class variables    
      bool cv_ptr_init;
        bool hri_busy;
        bool head_busy;
        cv_bridge::CvImagePtr cv_ptr;
        IplImage* ipl_scaledImage;
        clsParameters parameters;
        
    typedef enum {HOME_STATE, LOOK_STATE, DETECTION_STATE, HRI_STATE} states;
    states current_state_;

    typedef enum {TTS_=0,LEDS_=1,HEAD_=2,LEFT_ARM_=3,RIGHT_ARM_=4} clients;
    static const unsigned int NUM_CLIENTS=RIGHT_ARM_-TTS_+1;

    bool detectOject(std::string & obj_tag);
  public:
    ObjectDetectionAlgNode(void);

    ~ObjectDetectionAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif