.. _program_listing_file__tmp_ws_src_locator_ros_bridge_bosch_locator_bridge_include_bosch_locator_bridge_locator_bridge_node.hpp:

Program Listing for File locator_bridge_node.hpp
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|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_locator_ros_bridge_bosch_locator_bridge_include_bosch_locator_bridge_locator_bridge_node.hpp>` (``/tmp/ws/src/locator_ros_bridge/bosch_locator_bridge/include/bosch_locator_bridge/locator_bridge_node.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2021 - for information on the respective copyright owner
   // see the NOTICE file and/or the repository https://github.com/boschglobal/locator_ros_bridge.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   
   #ifndef BOSCH_LOCATOR_BRIDGE__LOCATOR_BRIDGE_NODE_HPP_
   #define BOSCH_LOCATOR_BRIDGE__LOCATOR_BRIDGE_NODE_HPP_
   
   #include <Poco/Thread.h>
   
   #include <memory>
   #include <string>
   #include <unordered_map>
   #include <utility>
   #include <vector>
   
   #include "geometry_msgs/msg/pose_with_covariance_stamped.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "std_srvs/srv/empty.hpp"
   #include "sensor_msgs/msg/laser_scan.hpp"
   #include "nav_msgs/msg/odometry.hpp"
   
   #include "bosch_locator_bridge/srv/client_config_get_entry.hpp"
   #include "bosch_locator_bridge/srv/client_map_list.hpp"
   #include "bosch_locator_bridge/srv/client_map_send.hpp"
   #include "bosch_locator_bridge/srv/client_map_set.hpp"
   #include "bosch_locator_bridge/srv/client_map_start.hpp"
   #include "bosch_locator_bridge/srv/start_recording.hpp"
   
   #include "locator_rpc_interface.hpp"
   
   // forward declarations
   class LocatorRPCInterface;
   class SendingInterface;
   class ClientControlModeInterface;
   class ClientMapMapInterface;
   class ClientMapVisualizationInterface;
   class ClientRecordingMapInterface;
   class ClientRecordingVisualizationInterface;
   class ClientLocalizationMapInterface;
   class ClientLocalizationVisualizationInterface;
   class ClientLocalizationPoseInterface;
   class ClientGlobalAlignVisualizationInterface;
   
   class LocatorBridgeNode : public rclcpp::Node
   {
   public:
     explicit LocatorBridgeNode(const std::string & nodeName);
     ~LocatorBridgeNode();
   
     void init();
   
   private:
     bool check_module_versions(
       const std::unordered_map<std::string, std::pair<int32_t,
       int32_t>> & module_versions);
     template<typename T>
     bool get_config_entry(const std::string & name, T & value) const;
     template<typename T>
     bool set_config_entry(const std::string & name, const T & value) const;
   
     void laser_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
     void laser2_callback(const sensor_msgs::msg::LaserScan::SharedPtr msg);
     void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg);
   
     bool clientConfigGetEntryCb(
       const std::shared_ptr<bosch_locator_bridge::srv::ClientConfigGetEntry::Request> req,
       std::shared_ptr<bosch_locator_bridge::srv::ClientConfigGetEntry::Response> res);
   
     bool clientMapSendCb(
       const std::shared_ptr<bosch_locator_bridge::srv::ClientMapSend::Request> req,
       std::shared_ptr<bosch_locator_bridge::srv::ClientMapSend::Response> res);
     bool clientMapSetCb(
       const std::shared_ptr<bosch_locator_bridge::srv::ClientMapSet::Request> req,
       std::shared_ptr<bosch_locator_bridge::srv::ClientMapSet::Response> res);
     bool clientMapList(
       const std::shared_ptr<bosch_locator_bridge::srv::ClientMapList::Request> req,
       std::shared_ptr<bosch_locator_bridge::srv::ClientMapList::Response> res);
   
     bool clientLocalizationStartCb(
       const std::shared_ptr<std_srvs::srv::Empty::Request> req,
       std::shared_ptr<std_srvs::srv::Empty::Response> res);
     bool clientLocalizationStopCb(
       const std::shared_ptr<std_srvs::srv::Empty::Request> req,
       std::shared_ptr<std_srvs::srv::Empty::Response> res);
   
     void setSeedCallback(const geometry_msgs::msg::PoseWithCovarianceStamped::SharedPtr msg);
   
     bool clientRecordingStartVisualRecordingCb(
       const std::shared_ptr<bosch_locator_bridge::srv::StartRecording::Request> req,
       std::shared_ptr<bosch_locator_bridge::srv::StartRecording::Response> res);
     bool clientRecordingStopVisualRecordingCb(
       const std::shared_ptr<std_srvs::srv::Empty::Request> req,
       std::shared_ptr<std_srvs::srv::Empty::Response> res);
   
     bool clientMapStartCb(
       const std::shared_ptr<bosch_locator_bridge::srv::ClientMapStart::Request> req,
       std::shared_ptr<bosch_locator_bridge::srv::ClientMapStart::Response> res);
     bool clientMapStopCb(
       const std::shared_ptr<std_srvs::srv::Empty::Request> req,
       std::shared_ptr<std_srvs::srv::Empty::Response> res);
   
     void syncConfig();
   
     void checkLaserScan(
       const sensor_msgs::msg::LaserScan::SharedPtr msg,
       const std::string & laser) const;
     void setupBinaryReceiverInterfaces(const std::string & host);
   
     std::unique_ptr<LocatorRPCInterface> loc_client_interface_;
   
     rclcpp::TimerBase::SharedPtr session_refresh_timer_;
   
     std::vector<rclcpp::ServiceBase::SharedPtr> services_;
     rclcpp::CallbackGroup::SharedPtr callback_group_services_;
   
     // Flag to indicate if the bridge should send odometry data to the locator.
     // Value retrieved by the locator settings.
     bool provide_odometry_data_;
     rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr laser_sub_;
     std::unique_ptr<SendingInterface> laser_sending_interface_;
     Poco::Thread laser_sending_interface_thread_;
     rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr laser2_sub_;
     std::unique_ptr<SendingInterface> laser2_sending_interface_;
     Poco::Thread laser2_sending_interface_thread_;
   
     rclcpp::Subscription<geometry_msgs::msg::PoseWithCovarianceStamped>::SharedPtr set_seed_sub_;
   
     // Flag to indicate if the bridge should send odometry data to the locator.
     // Value retrieved by the locator settings.
     bool provide_laser_data_;
     bool provide_laser2_data_;
     rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_sub_;
     std::unique_ptr<SendingInterface> odom_sending_interface_;
     Poco::Thread odom_sending_interface_thread_;
   
     std::unique_ptr<ClientControlModeInterface> client_control_mode_interface_;
     Poco::Thread client_control_mode_interface_thread_;
     std::unique_ptr<ClientMapMapInterface> client_map_map_interface_;
     Poco::Thread client_map_map_interface_thread_;
     std::unique_ptr<ClientMapVisualizationInterface> client_map_visualization_interface_;
     Poco::Thread client_map_visualization_interface_thread_;
     std::unique_ptr<ClientRecordingMapInterface> client_recording_map_interface_;
     Poco::Thread client_recording_map_interface_thread_;
     std::unique_ptr<ClientRecordingVisualizationInterface>
     client_recording_visualization_interface_;
     Poco::Thread client_recording_visualization_interface_thread_;
     std::unique_ptr<ClientLocalizationMapInterface> client_localization_map_interface_;
     Poco::Thread client_localization_map_interface_thread_;
     std::unique_ptr<ClientLocalizationVisualizationInterface>
     client_localization_visualization_interface_;
     Poco::Thread client_localization_visualization_interface_thread_;
     std::unique_ptr<ClientLocalizationPoseInterface> client_localization_pose_interface_;
     Poco::Thread client_localization_pose_interface_thread_;
     std::unique_ptr<ClientGlobalAlignVisualizationInterface>
     client_global_align_visualization_interface_;
     Poco::Thread client_global_align_visualization_interface_thread_;
   
     size_t scan_num_ {0};
     size_t scan2_num_ {0};
     size_t odom_num_ {0};
   
     std::string last_recording_name_;
     std::string last_map_name_;
   
     rclcpp::Time prev_laser_timestamp_;
     rclcpp::Time prev_laser2_timestamp_;
   };
   
   template<typename T>
   bool LocatorBridgeNode::get_config_entry(const std::string & name, T & value) const
   {
     const auto & loc_client_config = loc_client_interface_->getConfigList();
   
     try {
       loc_client_config[name].convert(value);
     } catch (const Poco::NotFoundException & error) {
       RCLCPP_ERROR_STREAM(get_logger(), "Could not find config entry " << name << ".");
       return false;
     }
   
     return true;
   }
   
   template<typename T>
   bool LocatorBridgeNode::set_config_entry(const std::string & name, const T & value) const
   {
     auto loc_client_config = loc_client_interface_->getConfigList();
   
     try {
       loc_client_config[name] = value;
     } catch (const Poco::NotFoundException & error) {
       RCLCPP_ERROR_STREAM(get_logger(), "Could not find config entry " << name << ".");
       return false;
     }
   
     loc_client_interface_->setConfigList(loc_client_config);
     return true;
   }
   
   #endif  // BOSCH_LOCATOR_BRIDGE__LOCATOR_BRIDGE_NODE_HPP_