zyonz_obtain_two_clustered_leaves_alg_node.cpp

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#include "zyonz_obtain_two_clustered_leaves_alg_node.h"

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

  // [init publishers]
  cluster_a_img_publisher_ = public_node_handle_.advertise<sensor_msgs::Image>("cluster_a_img", 1);
  cluster_b_img_publisher_ = public_node_handle_.advertise<sensor_msgs::Image>("cluster_b_img", 1);
  cluster_a_publisher_ = public_node_handle_.advertise<sensor_msgs::PointCloud2>("cluster_a", 1);
  cluster_b_publisher_ = public_node_handle_.advertise<sensor_msgs::PointCloud2>("cluster_b", 1);
  
  // [init subscribers]
  
  // [init services]
  extract_clusters_server_ = public_node_handle_.advertiseService("extract_clusters", &ZyonzObtainTwoClusteredLeavesAlgNode::extract_clustersCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void ZyonzObtainTwoClusteredLeavesAlgNode::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]
  // cluster_a_img_publisher_.publish(Image_msg_);
  // cluster_b_img_publisher_.publish(Image_msg_);
  // cluster_a_publisher_.publish(this->PointCloud2_msg_);
  // cluster_b_publisher_.publish(this->PointCloud2_msg_);
}

/*  [subscriber callbacks] */

/*  [service callbacks] */
bool ZyonzObtainTwoClusteredLeavesAlgNode::extract_clustersCallback(zyonz_obtain_two_clustered_leaves::ExtractClusters::Request &req, zyonz_obtain_two_clustered_leaves::ExtractClusters::Response &res) 
{
  ROS_INFO("ZyonzObtainTwoClusteredLeavesAlgNode::extract_clustersCallback: New Request Received!"); 

  //use appropiate mutex to shared variables if necessary 
  alg_.lock(); 
  extract_clusters_mutex_.enter(); 

//  pcl::PointCloud<pcl::PointXYZRGB>::Ptr cloud_Ptr;
//  pcl::fromROSMsg(req.input, *cloud_Ptr);
  sensor_msgs::PointCloud2::ConstPtr point_cloud_ConstPtr;
  point_cloud_ConstPtr = boost::make_shared<sensor_msgs::PointCloud2>(req.input);
  
  if(!alg_.extract_clusters(point_cloud_ConstPtr))
  {
    ROS_INFO("ZyonzObtainTwoClusteredLeavesAlgNode::extract_clustersCallback: ERROR: alg is not on run mode yet!"); 
  }

  pcl::toROSMsg(*alg_.get_cluster_a(), res.cluster_a);
  pcl::toROSMsg(*alg_.get_cluster_b(), res.cluster_b);
  res.cluster_a_img = *alg_.get_cluster_a_img();
  res.cluster_b_img = *alg_.get_cluster_b_img();

  cluster_a_publisher_.publish(*alg_.get_cluster_a());
  cluster_b_publisher_.publish(*alg_.get_cluster_b());
  cluster_a_img_publisher_.publish(*alg_.get_cluster_a_img());
  cluster_b_img_publisher_.publish(*alg_.get_cluster_b_img());
  
  //unlock previously blocked shared variables 
  alg_.unlock(); 
  extract_clusters_mutex_.exit(); 

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void ZyonzObtainTwoClusteredLeavesAlgNode::addNodeDiagnostics(void)
{
}

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