interval_intersection_action.cpp
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00035 
00036 #include <vector>
00037 #include <boost/scoped_ptr.hpp>
00038 #include <ros/ros.h>
00039 #include <ros/console.h>
00040 #include <actionlib/server/simple_action_server.h>
00041 #include <interval_intersection/interval_intersection.hpp>
00042 
00043 #include <calibration_msgs/Interval.h>
00044 #include <calibration_msgs/IntervalStatus.h>
00045 #include <interval_intersection/ConfigAction.h>
00046 
00047 using namespace std;
00048 using namespace interval_intersection;
00049 
00050 class IntervalIntersectionAction
00051 {
00052 public:
00053   IntervalIntersectionAction() : as_("interval_intersection_config", false)
00054   {
00055     as_.registerGoalCallback(    boost::bind(&IntervalIntersectionAction::goalCallback, this) );
00056     as_.registerPreemptCallback( boost::bind(&IntervalIntersectionAction::preemptCallback, this) );
00057     pub_ = nh_.advertise<calibration_msgs::Interval>("intersected_interval", 1);
00058     status_pub_ = nh_.advertise<calibration_msgs::IntervalStatus>(
00059           "intersected_interval_status", 1);
00060 
00061     // set up our status timer
00062     status_timer_ = nh_.createTimer(ros::Duration(1.0),
00063         boost::bind(&IntervalIntersectionAction::publishStatus, this));
00064 
00065     ROS_DEBUG("Start interval intersection with no input topics");
00066     as_.start();
00067   }
00068 
00069   void goalCallback()
00070   {
00071     boost::mutex::scoped_lock lock(run_mutex_);
00072 
00073     // Stop currently running goal, if there's a goal running
00074     if (as_.isActive())
00075     {
00076       tearDown();
00077       as_.setPreempted();
00078     }
00079 
00080     // Get the new goal from the action server
00081     interval_intersection::ConfigGoalConstPtr goal = as_.acceptNewGoal();
00082     assert(goal);
00083 
00084     // Reconfigure the node
00085     intersect_nh_.reset(new ros::NodeHandle);
00086     intersect_.reset(new IntervalIntersector( boost::bind(&IntervalIntersectionAction::publishResult, this, _1)));
00087     // Subscribe to all the requested topics
00088     subscribers_.resize(goal->topics.size());
00089     topics_.resize(goal->topics.size());
00090     for (unsigned int i=0; i<goal->topics.size(); i++)
00091     {
00092       ROS_DEBUG("Subscribing to: %s", goal->topics[i].c_str());
00093       subscribers_[i] = intersect_nh_->subscribe<calibration_msgs::Interval>(goal->topics[i], 200, intersect_->getNewInputStream());
00094       topics_[i] = goal->topics[i];
00095     }
00096   }
00097 
00098   void preemptCallback()
00099   {
00100     boost::mutex::scoped_lock lock(run_mutex_);
00101     tearDown();
00102     as_.setPreempted();
00103   }
00104 
00105   void tearDown()
00106   {
00107     assert(intersect_);
00108     assert(intersect_nh_);
00109 
00110     // Shutdown the subnode, to ensure that none of the callbacks are called
00111     ROS_DEBUG("Shutting Down IntervalIntersection");
00112     intersect_nh_->shutdown();
00113 
00114     subscribers_.clear();
00115     intersect_.reset();
00116     intersect_nh_.reset();
00117   }
00118 
00119   void publishResult(calibration_msgs::Interval interval)
00120   {
00121     ROS_DEBUG("Publishing");
00122     pub_.publish(interval);
00123   }
00124 
00125   void publishStatus() {
00126      ROS_DEBUG("Publishing interval intersection status");
00127      if ( intersect_ ) {
00128         // get status from intersector
00129         calibration_msgs::IntervalStatus status = intersect_->get_status();
00130         // fill in timestamp
00131         status.header.stamp = ros::Time::now();
00132         // fill in topic names
00133         for ( size_t i=0; i<status.yeild_rates.size(); ++i ) {
00134            status.names[i] = topics_[i];
00135            ROS_DEBUG("Topic %s has a success rate of %f", 
00136                  status.names[i].c_str(), status.yeild_rates[i]);
00137         }
00138         // publish!
00139         status_pub_.publish(status);
00140      }
00141   }
00142 
00143 private:
00144   boost::mutex run_mutex_;
00145   actionlib::SimpleActionServer<interval_intersection::ConfigAction> as_;
00146 
00147   boost::scoped_ptr<ros::NodeHandle> intersect_nh_;
00148   boost::scoped_ptr<IntervalIntersector> intersect_;
00149   vector<ros::Subscriber> subscribers_;
00150   vector<std::string> topics_;
00151 
00152   ros::Publisher pub_;
00153   ros::Publisher status_pub_;
00154   ros::NodeHandle nh_;
00155   ros::Timer status_timer_;
00156 };
00157 
00158 int main(int argc, char** argv)
00159 {
00160   ros::init(argc, argv, "intersection_action_node");
00161   IntervalIntersectionAction intersect_action;
00162   ros::spin();
00163   return 0;
00164 }


interval_intersection
Author(s): Romain Thibaux
autogenerated on Tue Sep 27 2016 04:06:39