#include "ros/ros.h"
#include "geometry_msgs/Twist.h"
#include "gazebo_msgs/SetModelState.h"
#include "gazebo_msgs/GetModelState.h"
#include "sensor_msgs/CameraInfo.h"
#include <image_transport/image_transport.h>
#include "std_msgs/String.h"
#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <cv_bridge/cv_bridge.h>
#include <opencv2/opencv.hpp>
#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <stdio.h>
#include <stdlib.h>
#include <fstream>
#include <sstream>
#include <sys/types.h>
#include <netinet/in.h>
#include <sys/socket.h>
#include <sys/wait.h>
#include <pthread.h>
#include <netinet/tcp.h>

Include dependency graph for vscan_server.cpp:

Classes
struct	PositionInGazebo

Macros
#define	BACKLOG 10

#define	PI 3.1415926

#define	SERVPORT 3333

Functions
void	callForPose (int id)

bool	change_robot_number (int client_fd)

void	change_robot_number_local (int number)

vector< cv::Mat >	crt_depth_images (rbtnum)

vector< cv::Mat >	crt_rgb_images (rbtnum)

void	depthImageCallback (const sensor_msgs::ImageConstPtr &msg, const std::string &rbtID)

bool	getDepth (int client_fd)

bool	getPose (int client_fd)

bool	getRGBD (int client_fd)

void	goToPose (float x0, float y0, float qx0, float qy0, float qz0, float qw0, float x1, float y1, float qx1, float qy1, float qz1, float qw1, float x2, float y2, float qx2, float qy2, float qz2, float qw2)

void	infoCallback (const sensor_msgs::CameraInfoConstPtr &msg)

string	int2str (int n)

int	main (int argc, char **argv)

bool	move_to_views (int client_fd)

int	recvData (const int client_fd, char buf[], int len)

void	rgbImageCallback (const sensor_msgs::ImageConstPtr &msg, const std::string &rbtID)

bool	scanSurroundings (int client_fd)

bool	sendData (const int client_fd, const char *ch, const int len)

int	sendTotalData (const int client_fd, const char *buf, const int len)

void	setForPose (int id, float x, float y, float z, float qx, float qy, float qz, float qw)

bool	setPath (int client_fd)

bool	setPose (int client_fd)

bool	setTaskPositions (int client_fd)

cv::Mat	shortImg (480, 640, CV_16UC1)

int	str2int (string s)

vector< image_transport::Subscriber >	subsColor (rbtnum)

vector< image_transport::Subscriber >	subsDepth (rbtnum)

void *	thread (void *ptr)

Variables
const float	camera_cx = 320.500000

const float	camera_cy = 240.500000

const float	camera_factor = 1000

const float	camera_fx = 554.382713

const float	camera_fy = 554.382713

float	camera_height = 1.1

int	client_fd

bool	depth_ready = false

ros::ServiceClient	gclient

image_transport::ImageTransport *	it

const int	MAXRECV = 10240

struct sockaddr_in	my_addr

ofstream	ofs_off

vector< vector< PositionInGazebo > >	path_poses

float	pose [7]

bool	pose_ready = false

float	rbt_v = 1.0/times - 0.01

int	rbtnum = 3

struct sockaddr_in	remote_addr

bool	rgb_ready = false

cv::Mat	rgbImg

ros::ServiceClient	sclient

int	sin_size

int	sockfd

vector< PositionInGazebo >	task_poses

const int	times = 1.0

Macro Definition Documentation

◆ BACKLOG

#define BACKLOG 10

Definition at line 38 of file vscan_server.cpp.

◆ PI

#define PI 3.1415926

Definition at line 31 of file vscan_server.cpp.

◆ SERVPORT

#define SERVPORT 3333

Definition at line 33 of file vscan_server.cpp.

Function Documentation

◆ callForPose()

void callForPose ( int id )

Definition at line 149 of file vscan_server.cpp.

◆ change_robot_number()

bool change_robot_number ( int client_fd )

Definition at line 990 of file vscan_server.cpp.

◆ change_robot_number_local()

void change_robot_number_local ( int number )

Definition at line 948 of file vscan_server.cpp.

◆ crt_depth_images()

vector<cv::Mat> crt_depth_images ( rbtnum )

◆ crt_rgb_images()

vector<cv::Mat> crt_rgb_images ( rbtnum )

◆ depthImageCallback()

void depthImageCallback	(	const sensor_msgs::ImageConstPtr &	msg,
		const std::string &	rbtID
	)

Definition at line 117 of file vscan_server.cpp.

◆ getDepth()

bool getDepth ( int client_fd )

Definition at line 356 of file vscan_server.cpp.

◆ getPose()

bool getPose ( int client_fd )

Definition at line 365 of file vscan_server.cpp.

◆ getRGBD()

bool getRGBD ( int client_fd )

Definition at line 278 of file vscan_server.cpp.

◆ goToPose()

void goToPose	(	float	x0,
		float	y0,
		float	qx0,
		float	qy0,
		float	qz0,
		float	qw0,
		float	x1,
		float	y1,
		float	qx1,
		float	qy1,
		float	qz1,
		float	qw1,
		float	x2,
		float	y2,
		float	qx2,
		float	qy2,
		float	qz2,
		float	qw2
	)

Definition at line 406 of file vscan_server.cpp.

◆ infoCallback()

void infoCallback ( const sensor_msgs::CameraInfoConstPtr & msg )

Definition at line 200 of file vscan_server.cpp.

◆ int2str()

string int2str ( int n )

Definition at line 76 of file vscan_server.cpp.

◆ main()

int main	(	int	argc,
		char **	argv
	)

Definition at line 1096 of file vscan_server.cpp.

◆ move_to_views()

bool move_to_views ( int client_fd )

Definition at line 508 of file vscan_server.cpp.

◆ recvData()

int recvData	(	const int	client_fd,
		char	buf[],
		int	len
	)

Definition at line 208 of file vscan_server.cpp.

◆ rgbImageCallback()

void rgbImageCallback	(	const sensor_msgs::ImageConstPtr &	msg,
		const std::string &	rbtID
	)

Definition at line 94 of file vscan_server.cpp.

◆ scanSurroundings()

bool scanSurroundings ( int client_fd )

Definition at line 885 of file vscan_server.cpp.

◆ sendData()

bool sendData	(	const int	client_fd,
		const char *	ch,
		const int	len
	)

Definition at line 247 of file vscan_server.cpp.

◆ sendTotalData()

int sendTotalData	(	const int	client_fd,
		const char *	buf,
		const int	len
	)

Definition at line 261 of file vscan_server.cpp.

◆ setForPose()

void setForPose	(	int	id,
		float	x,
		float	y,
		float	z,
		float	qx,
		float	qy,
		float	qz,
		float	qw
	)

Definition at line 173 of file vscan_server.cpp.

◆ setPath()

bool setPath ( int client_fd )

Definition at line 605 of file vscan_server.cpp.

◆ setPose()

bool setPose ( int client_fd )

Definition at line 559 of file vscan_server.cpp.

◆ setTaskPositions()

bool setTaskPositions ( int client_fd )

Definition at line 922 of file vscan_server.cpp.

◆ shortImg()

cv::Mat shortImg	(	480	,
		640	,
		CV_16UC1
	)

◆ str2int()

int str2int ( string s )

Definition at line 85 of file vscan_server.cpp.

◆ subsColor()

vector<image_transport::Subscriber> subsColor ( rbtnum )

◆ subsDepth()

vector<image_transport::Subscriber> subsDepth ( rbtnum )

◆ thread()

void* thread ( void * ptr )

Definition at line 1005 of file vscan_server.cpp.

Variable Documentation

◆ camera_cx

const float camera_cx = 320.500000

Definition at line 63 of file vscan_server.cpp.

◆ camera_cy

const float camera_cy = 240.500000

Definition at line 64 of file vscan_server.cpp.

◆ camera_factor

const float camera_factor = 1000

Definition at line 62 of file vscan_server.cpp.

◆ camera_fx

const float camera_fx = 554.382713

Definition at line 65 of file vscan_server.cpp.

◆ camera_fy

const float camera_fy = 554.382713

Definition at line 66 of file vscan_server.cpp.

◆ camera_height

float camera_height = 1.1

Definition at line 41 of file vscan_server.cpp.

◆ client_fd

int client_fd

Definition at line 34 of file vscan_server.cpp.

◆ depth_ready

bool depth_ready = false

Definition at line 46 of file vscan_server.cpp.

◆ gclient

ros::ServiceClient gclient

Definition at line 57 of file vscan_server.cpp.

◆ it

image_transport::ImageTransport* it

Definition at line 49 of file vscan_server.cpp.

◆ MAXRECV

const int MAXRECV = 10240

Definition at line 37 of file vscan_server.cpp.

◆ my_addr

struct sockaddr_in my_addr

Definition at line 35 of file vscan_server.cpp.

◆ ofs_off

ofstream ofs_off

Definition at line 74 of file vscan_server.cpp.

◆ path_poses

vector< vector< PositionInGazebo > > path_poses

Definition at line 601 of file vscan_server.cpp.

◆ pose

float pose[7]

Definition at line 59 of file vscan_server.cpp.

◆ pose_ready

bool pose_ready = false

Definition at line 60 of file vscan_server.cpp.

◆ rbt_v

float rbt_v = 1.0/times - 0.01

Definition at line 69 of file vscan_server.cpp.

◆ rbtnum

int rbtnum = 3

Definition at line 40 of file vscan_server.cpp.

◆ remote_addr

struct sockaddr_in remote_addr

Definition at line 36 of file vscan_server.cpp.

◆ rgb_ready

bool rgb_ready = false

Definition at line 45 of file vscan_server.cpp.

◆ rgbImg

cv::Mat rgbImg

Definition at line 43 of file vscan_server.cpp.

◆ sclient

ros::ServiceClient sclient

Definition at line 58 of file vscan_server.cpp.

◆ sin_size

int sin_size

Definition at line 34 of file vscan_server.cpp.

◆ sockfd

int sockfd

Definition at line 34 of file vscan_server.cpp.

◆ task_poses

vector< PositionInGazebo > task_poses

Definition at line 602 of file vscan_server.cpp.

◆ times

const int times = 1.0

Definition at line 68 of file vscan_server.cpp.

Classes

Macros

Functions

Variables

Macro Definition Documentation

◆ BACKLOG

◆ PI

◆ SERVPORT

Function Documentation

◆ callForPose()

◆ change_robot_number()

◆ change_robot_number_local()

◆ crt_depth_images()

◆ crt_rgb_images()

◆ depthImageCallback()

◆ getDepth()

◆ getPose()

◆ getRGBD()

◆ goToPose()

◆ infoCallback()

◆ int2str()

◆ main()

◆ move_to_views()

◆ recvData()

◆ rgbImageCallback()

◆ scanSurroundings()

◆ sendData()

◆ sendTotalData()

◆ setForPose()

◆ setPath()

◆ setPose()

◆ setTaskPositions()

◆ shortImg()

◆ str2int()

◆ subsColor()

◆ subsDepth()

◆ thread()

Variable Documentation

◆ camera_cx

◆ camera_cy

◆ camera_factor

◆ camera_fx

◆ camera_fy

◆ camera_height

◆ client_fd

◆ depth_ready

◆ gclient

◆ it

◆ MAXRECV

◆ my_addr

◆ ofs_off

◆ path_poses

◆ pose

◆ pose_ready

◆ rbt_v

◆ rbtnum

◆ remote_addr

◆ rgb_ready

◆ rgbImg

◆ sclient

◆ sin_size

◆ sockfd

◆ task_poses

◆ times