base.h

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// Copyright 2022 PAL Robotics S.L.
//
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// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the PAL Robotics S.L. nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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// POSSIBILITY OF SUCH DAMAGE.
 
 
#ifndef HRI_BASE_H
#define HRI_BASE_H
 
#include <memory>
#include <optional>
#include <string>
#include <ros/ros.h>
 
namespace hri
{
typedef std::string ID;
 
enum FeatureType
{
  invalid = 0,
  person = (1u << 0),  // all known persons, whether or not they are currently seen
  tracked_person = (1u << 1),  // only the actively tracked persons
  face = (1u << 2),
  body = (1u << 3),
  voice = (1u << 4)
};  // note that FeatureType values can also be used as bitmasks
 
class FeatureTracker
{
public:
  /* creates a new feature tracker (eg, a face, body or voice tracker).
   *
   * This constructor should not be called directly. Instead, use one of the
   * specialisation: hri::Face, hri::Body, hri::Voice.
   *
   * Note however that instances would normally be automatically created, and accessed via
   * the methods exposed by hri::HRIListener.
   *
   * Note that the resulting instance is non-copyable, as it includes
   * non-trivial, and typically non-reentrant, logic to subscribe/unsubcribe
   * HRI-related topics.
   */
  FeatureTracker(ID id, const ros::NodeHandle& nh) : id_(id), node_(nh), ns_("")
  {
  }
 
  virtual ~FeatureTracker()
  {
  }
 
  // forbids copies of our 'feature trackers', as we need to internally manage
  // if/when they disappear. Instead, access them via weak pointers (cf HRIListener API).
 
  // TODO: ask a C++ expert how to enable that while avoid compilation errors when
  // building/moving a FeatureTracker into a container (in HRIListener)
  FeatureTracker(const FeatureTracker&) = delete;
 
 
  /* returns the unique ID of this feature.
   *
   * :see: FeatureTracker::getNamespace, to access the fully-qualified topic
   * namespace under which this feature is published.
   */
  ID id() const
  {
    return id_;
  }
 
  /* returns the topic namespace under which this feature is advertised.
   */
  std::string getNamespace() const
  {
    return ns_;
  }
 
  /* alias for FeatureTracker::getNamespace
   */
  std::string ns() const
  {
    return getNamespace();
  }
 
  bool operator<(const FeatureTracker& other) const
  {
    return id_ < other.id();
  }
 
 
  virtual void init() = 0;
 
protected:
  ID id_;
 
  // topic namespace under which this feature is advertised
  std::string ns_;
 
  ros::NodeHandle node_;
};
 
}  // namespace hri
 
#endif