zyonz_obtain_roi_jump_edge_based_alg_node.cpp

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#include "zyonz_obtain_roi_jump_edge_based_alg_node.h"

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

  // [init publishers]
  roi_img_publisher_ = public_node_handle_.advertise<sensor_msgs::Image>("roi_img", 1);
  roi_pc_publisher_ = public_node_handle_.advertise<sensor_msgs::PointCloud2>("roi_pc", 1);
  roi_pose_publisher_ = public_node_handle_.advertise<geometry_msgs::PoseStamped>("roi_pose", 1);
  
  // [init subscribers]
  
  // [init services]
  extract_two_leaves_roi_server_ = public_node_handle_.advertiseService("extract_two_leaves_roi", &ZyonzObtainRoiJumpEdgeBasedAlgNode::extract_two_leaves_roiCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void ZyonzObtainRoiJumpEdgeBasedAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  //this->Image_msg_.data = my_var;
  //this->PointCloud2_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]
}

/*  [subscriber callbacks] */

/*  [service callbacks] */
bool ZyonzObtainRoiJumpEdgeBasedAlgNode::extract_two_leaves_roiCallback(zyonz_obtain_roi_jump_edge_based::ExtractTwoLeavesRoi::Request &req, zyonz_obtain_roi_jump_edge_based::ExtractTwoLeavesRoi::Response &res) 
{ 
  ROS_INFO("ZyonzObtainRoiJumpEdgeBasedAlgNode::extract_two_leaves_roiCallback: New Request Received!"); 

  // Fill the REQUEST
  sensor_msgs::PointCloud2::ConstPtr point_cloud_ConstPtr; 
  point_cloud_ConstPtr = boost::make_shared<sensor_msgs::PointCloud2>(req.residual_pc);
  sensor_msgs::Image::ConstPtr cluster_a_img_ConstPtr, cluster_b_img_ConstPtr, residual_img_ConstPtr;
  cluster_a_img_ConstPtr = boost::make_shared<sensor_msgs::Image>(req.cluster_a_img);
  cluster_b_img_ConstPtr = boost::make_shared<sensor_msgs::Image>(req.cluster_b_img);
  residual_img_ConstPtr = boost::make_shared<sensor_msgs::Image>(req.residual_img);
  
  //use appropiate mutex to shared variables if necessary 
  alg_.lock(); 
  extract_two_leaves_roi_mutex_.enter(); 

  if(!alg_.isRunning(point_cloud_ConstPtr, cluster_a_img_ConstPtr, cluster_b_img_ConstPtr, residual_img_ConstPtr)) 
  { 
    ROS_INFO("ZyonzObtainRoiJumpEdgeBasedAlgNode::extract_two_leaves_roiCallback: ERROR: alg is not on run mode yet."); 
  } 

  // Fill the RESPONSE
  pcl::toROSMsg(*alg_.get_roi_pc (), res.roi_pc);
  res.roi_img = *alg_.get_roi_img ();
  res.roi_pose = *alg_.get_roi_pose ();
  res.viewpoint_pose = *alg_.get_viewpoint_pose ();

  // Publish topics
  roi_pc_publisher_.publish(*alg_.get_roi_pc ());
  roi_img_publisher_.publish(*alg_.get_roi_img ());
  roi_pose_publisher_.publish(*alg_.get_roi_pose ());

  //unlock previously blocked shared variables 
  alg_.unlock(); 
  extract_two_leaves_roi_mutex_.exit (); 

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void ZyonzObtainRoiJumpEdgeBasedAlgNode::addNodeDiagnostics(void)
{

}

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