coordinator_node.h

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#ifndef _COORDINATOR_NODE_H_
#define _COORDINATOR_NODE_H_

// standard includes
#include <sstream>
#include <string>
#include <vector>

// ROS includes
#include <ros/ros.h>

// ROS message includes
#include <cob_perception_msgs/DetectionArray.h>

// actions
#include <actionlib/server/simple_action_server.h>
#include <cob_people_detection/getDetectionsAction.h>

// services
#include <std_srvs/Empty.h>
#include <cob_people_detection/recognitionTrigger.h>

// boost
#include <boost/bind.hpp>
#include <boost/thread/mutex.hpp>

// external includes
#include "cob_vision_utils/GlobalDefines.h"

#include "cob_people_detection/face_recognizer.h"

typedef actionlib::SimpleActionServer<cob_people_detection::getDetectionsAction> GetDetectionsServer;

class CoordinatorNode
{
protected:

        ros::NodeHandle node_handle_; 

        boost::mutex active_action_mutex_; 
        boost::mutex last_detection_mutex_; 
        cob_perception_msgs::DetectionArray last_detection_message_; 

        bool sensor_message_gateway_open_; 

        // subscriber
        ros::Subscriber detection_sub_; 

        // actions
        GetDetectionsServer* get_detections_server_; 

        // services
        ros::ServiceServer service_server_start_recognition_; 
        ros::ServiceServer service_server_stop_recognition_; 

        // parameters
        std::string namespace_gateway_; 

        void detectionsCallback(const cob_perception_msgs::DetectionArray::ConstPtr& detection_array);

        void getDetectionsServerCallback(const cob_people_detection::getDetectionsGoalConstPtr& goal);

        bool startRecognitionCallback(cob_people_detection::recognitionTrigger::Request &req, cob_people_detection::recognitionTrigger::Response &res);

        bool stopRecognitionCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res);

public:

        CoordinatorNode(ros::NodeHandle nh);
        ~CoordinatorNode();
};

#endif // _COORDINATOR_NODE_H_