pasula_learner_alg_node.cpp

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#include "pasula_learner_alg_node.h"

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

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  this->learn_rules_server_ = this->public_node_handle_.advertiseService("learn_rules", &PasulaLearnerAlgNode::learn_rulesCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void PasulaLearnerAlgNode::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 PasulaLearnerAlgNode::learn_rulesCallback(iri_learning_msgs::LearnRulesFromTransitions::Request &req, iri_learning_msgs::LearnRulesFromTransitions::Response &res) 
{ 
  ROS_INFO("PasulaLearnerAlgNode::learn_rulesCallback: New Request Received!"); 

  //use appropiate mutex to shared variables if necessary 
  //this->alg_.lock(); 
  //this->learn_rules_mutex_.enter(); 
  res.ok = this->alg_.learn_rules();
  //unlock previously blocked shared variables 
  //this->alg_.unlock(); 
  //this->learn_rules_mutex_.exit(); 
  
  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void PasulaLearnerAlgNode::addNodeDiagnostics(void)
{
}

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