example_plugin.h

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/******************************************************************************
 * \file
 *
 * $Id:$
 *
 * Copyright (C) Brno University of Technology
 *
 * This file is part of software developed by dcgm-robotics@FIT group.
 *
 * Author: Vit Stancl (stancl@fit.vutbr.cz)
 * Supervised by: Michal Spanel (spanel@fit.vutbr.cz)
 * Date: dd/mm/2012
 *
 * This file 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 file 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 file.  If not, see <http://www.gnu.org/licenses/>.
 */
#pragma once
#ifndef _ExamplePlugin_H_included_
#define _ExamplePlugin_H_included_

#include <srs_env_model/but_server/server_tools.h>

namespace srs_env_model
{

class CExamplePlugin : public CServerPluginBase
{
public:
        CExamplePlugin( const std::string & name = "ExamplePlugin ")
        : CServerPluginBase( name )
        {}

        virtual void init(ros::NodeHandle & node_handle){}

        virtual void reset() {}

protected:
        virtual void publishInternal(const ros::Time & timestamp){}

        virtual bool shouldPublish(){ return false; }

}; // class CExamplePlugin

class CExampleCrawlerPlugin
: public CServerPluginBase
, public COctomapCrawlerBase<tButServerOcTree::NodeType>
, public CDataHolderBase<std::vector<unsigned char> >
{
public:
        CExampleCrawlerPlugin( const std::string & name = "ExamplePlugin ")
        : CServerPluginBase( name )
        {
                m_data->resize(3);

                // Store some data
                (*m_data)[0] = 255; (*m_data)[0] = 0; (*m_data)[0] = 0;

        }

        ~CExampleCrawlerPlugin() { }

        virtual void init(ros::NodeHandle & node_handle){}

        virtual void reset() {}

protected:

        virtual void newMapDataCB( SMapWithParameters & par )
        {
                m_frame_id = par.frameId;
                m_time_stamp = par.currentTime;

                // Initialize leaf iterators
                tButServerOcTree & tree( par.map->getTree() );
                srs_env_model::tButServerOcTree::leaf_iterator it, itEnd( tree.end_leafs() );

                // Crawl through nodes
                for ( it = tree.begin_leafs(m_crawlDepth); it != itEnd; ++it)
                {
                        // Node is occupied?
                        if (tree.isNodeOccupied(*it))
                        {
                                handleOccupiedNode(it, par);
                        }// Node is occupied?
                        else
                        {
                                handleFreeNode(it, par);
                        }

                } // Iterate through octree

                invalidate();
        }


        virtual void publishInternal(const ros::Time & timestamp){}

        virtual bool shouldPublish(){ return false; }


        virtual void handleOccupiedNode(srs_env_model::tButServerOcTree::iterator& it, const SMapWithParameters & mp)
        {
                it->r() = (*m_data)[0];
                it->g() = (*m_data)[1];
                it->b() = (*m_data)[2];
        }

        virtual void handleFreeNode(tButServerOcTree::iterator & it, const SMapWithParameters & mp )
        {
                it->r() = 0;
                it->g() = 255;
                it->b() = 0;
        }

        virtual void handlePostNodeTraversal(const SMapWithParameters & mp){}


}; // class CExampleCrawlerPlugin




} // namespace srs_env_model


// _ExamplePlugin_H_included_
#endif