zyonz_image_based_leaf_probing_alg_node.cpp

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#include "zyonz_image_based_leaf_probing_alg_node.h"
//#include <opencv2/highgui/highgui.hpp>
//#include <opencv2/imgproc/imgproc.hpp>
//#include <sensor_msgs/image_encodings.h>

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

  // [init publishers]
  this->seg_image_publisher_ = this->public_node_handle_.advertise<sensor_msgs::Image>("seg_image", 1);
  this->leaf_confidence_image_publisher_ = this->public_node_handle_.advertise<sensor_msgs::Image>("leaf_confidence_image", 1);
  
  // [init subscribers]
  
  // [init services]
  this->leaf_probing_srv_server_ = this->public_node_handle_.advertiseService("leaf_probing_srv", &ZyonzImageBasedLeafProbingAlgNode::leaf_probing_srvCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void ZyonzImageBasedLeafProbingAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  //this->Image_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->seg_image_publisher_.publish(this->Image_msg_);
  //this->leaf_confidence_image_publisher_.publish(this->Image_msg_);
}

/*  [subscriber callbacks] */

/*  [service callbacks] */
bool ZyonzImageBasedLeafProbingAlgNode::leaf_probing_srvCallback(zyonz_msgs::GetProbingSteps::Request &req, zyonz_msgs::GetProbingSteps::Response &res) 
{ 
  //ROS_INFO("ZyonzImageBasedLeafProbingAlgNode::leaf_probing_srvCallback: New Request Received!"); 
  
  //use appropiate mutex to shared variables if necessary 
  this->alg_.lock(); 
  //this->leaf_probing_srv_mutex_.enter(); 

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

  if (!alg_.get_leaf_probing_point(point_cloud_ConstPtr))
  { 
    ROS_INFO("ZyonzImageBasedLeafProbingAlgNode::leaf_probing_srvCallback: ERROR: alg is not on run mode yet."); 
  } 
  //ROS_INFO("ZyonzImageBasedLeafProbingAlgNode::leaf_probing_srvCallback: Processing New Request!"); 
  
  // [publish messages]
  seg_image_publisher_.publish(alg_.get_seg_image()->toImageMsg());
  leaf_confidence_image_publisher_.publish(alg_.get_confidence_image()->toImageMsg());

  res.steps.push_back(alg_.get_probing_step());

  //unlock previously blocked shared variables 
  this->alg_.unlock(); 
  //this->leaf_probing_srv_mutex_.exit(); 
  
  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void ZyonzImageBasedLeafProbingAlgNode::addNodeDiagnostics(void)
{
}

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