recorder.cpp

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// Global includes
#include <string>

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

// ISM includes
#include <ISM/recorder/Recorder.hpp>
#include <ISM/utility/Util.hpp>

// Local includes
#include "asr_ism/scene_configurator.hpp"


class Recorder
{
    public:
        Recorder() : nh_("~")
        {
            std::string db_filename;
            getNodeParameters(db_filename);            

            ism_recorder_ = ISM::RecorderPtr(new ISM::Recorder(db_filename));
        }


        void recordObjects(ISM::ObjectSetPtr object_set)
        {
            ISM::printYellow("Record object set:\n");

            ism_recorder_->insert(object_set, scene_name_);

            return;
        }


    private:
        ros::NodeHandle nh_;
        ISM::RecorderPtr ism_recorder_;
        std::string scene_name_;


        void getNodeParameters(std::string& db_filename)
        {
            if (!nh_.getParam("sceneName", scene_name_))
            {
                scene_name_ = "scene";
            }
            ROS_INFO_STREAM("sceneName: " << scene_name_);


            if (!nh_.getParam("dbfilename", db_filename))
            {
                db_filename = "/tmp/record.sqlite";
                ISM::printGreen("No database path specified. Default path \"" + db_filename + "\" will be used.\n");
            }
            ROS_INFO_STREAM("dbfilename: " << db_filename);
        }
};

int main (int argc, char **argv)
{
    //Usual ros node stuff
    ros::init(argc, argv, "recorder");
    Recorder* recorder = new Recorder();
    SceneConfigurator* scene_configurator = new SceneConfigurator(boost::bind(&Recorder::recordObjects, recorder, _1));

    ros::spin();

    //clean after shutdown
    delete scene_configurator;
    delete recorder;


    return 0;
}