hri.h

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// Copyright 2022 PAL Robotics S.L.
//
// Redistribution and use in source and binary forms, with or without
// 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
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
 
 
#ifndef HRI_HRI_H
#define HRI_HRI_H
 
#include <ros/ros.h>
#include <hri_msgs/IdsList.h>
 
#include <functional>
#include <map>
#include <memory>
 
#include "base.h"
#include "face.h"
#include "body.h"
#include "voice.h"
#include "person.h"
#include "ros/subscriber.h"
 
 
namespace hri
{
class HRIListener
{
public:
  HRIListener();
 
  ~HRIListener();
 
  std::map<ID, FaceWeakConstPtr> getFaces() const;
 
  void onFace(std::function<void(FaceWeakConstPtr)> callback)
  {
    face_callbacks.push_back(callback);
  }
 
  void onFaceLost(std::function<void(ID)> callback)
  {
    face_lost_callbacks.push_back(callback);
  }
 
 
  std::map<ID, BodyWeakConstPtr> getBodies() const;
 
  void onBody(std::function<void(BodyWeakConstPtr)> callback)
  {
    body_callbacks.push_back(callback);
  }
 
  void onBodyLost(std::function<void(ID)> callback)
  {
    body_lost_callbacks.push_back(callback);
  }
 
 
  std::map<ID, VoiceWeakConstPtr> getVoices() const;
 
  void onVoice(std::function<void(VoiceWeakPtr)> callback)
  {
    voice_callbacks.push_back(callback);
  }
 
  void onVoiceLost(std::function<void(ID)> callback)
  {
    voice_lost_callbacks.push_back(callback);
  }
 
 
 
  std::map<ID, PersonWeakConstPtr> getPersons() const;
 
  void onPerson(std::function<void(PersonWeakConstPtr)> callback)
  {
    person_callbacks.push_back(callback);
  }
 
  void onPersonLost(std::function<void(ID)> callback)
  {
    person_lost_callbacks.push_back(callback);
  }
 
  std::map<ID, PersonWeakConstPtr> getTrackedPersons() const;
 
 
  void onTrackedPerson(std::function<void(PersonWeakConstPtr)> callback)
  {
    person_tracked_callbacks.push_back(callback);
  }
 
  void onTrackedPersonLost(std::function<void(ID)> callback)
  {
    person_tracked_lost_callbacks.push_back(callback);
  }
 
 
  void setReferenceFrame(const std::string& frame)
  {
    _reference_frame = frame;
  }
 
private:
  ros::NodeHandle node_;
 
  void init();
 
  void onTrackedFeature(FeatureType feature, hri_msgs::IdsListConstPtr tracked);
 
  std::map<FeatureType, ros::Subscriber> feature_subscribers_;
 
  std::map<ID, FaceConstPtr> faces;
  std::vector<std::function<void(FaceWeakConstPtr)>> face_callbacks;
  std::vector<std::function<void(ID)>> face_lost_callbacks;
 
  std::map<ID, BodyConstPtr> bodies;
  std::vector<std::function<void(BodyWeakConstPtr)>> body_callbacks;
  std::vector<std::function<void(ID)>> body_lost_callbacks;
 
  std::map<ID, VoiceConstPtr> voices;
  // VoiceWeakPtr (and not VoiceWeakConstPtr) as user might
  // register callbacks on the returned Voice
  std::vector<std::function<void(VoiceWeakPtr)>> voice_callbacks;
  std::vector<std::function<void(ID)>> voice_lost_callbacks;
 
  std::map<ID, PersonConstPtr> persons;
  std::vector<std::function<void(PersonConstPtr)>> person_callbacks;
  std::vector<std::function<void(ID)>> person_lost_callbacks;
  std::map<ID, PersonConstPtr> tracked_persons;
  std::vector<std::function<void(PersonConstPtr)>> person_tracked_callbacks;
  std::vector<std::function<void(ID)>> person_tracked_lost_callbacks;
 
  std::string _reference_frame;
  tf2_ros::Buffer _tf_buffer;
  tf2_ros::TransformListener _tf_listener;
};
 
}  // namespace hri
 
 
 
#endif  // HRI_HRI_H