cleaning_plan_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _cleaning_plan_alg_node_h_
#define _cleaning_plan_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "cleaning_plan_alg.h"
#include "ellipses_representation.h"

// [publisher subscriber headers]
#include <sensor_msgs/Image.h>
#include <visualization_msgs/MarkerArray.h>
#include <visualization_msgs/Marker.h>

// [service client headers]
#include <estirabot_msgs/RepresentationToString.h>
#include <iri_clean_board/StateRepresentation.h>
#include <iri_clean_board/PlanToTrajectories.h>
#include <estirabot_msgs/StateRepresentationChanges.h>
#include <iri_planning_msgs/PradaPlanSrv.h>

// [action server client headers]

// tf
#include <tf/transform_broadcaster.h>
#include <tf/transform_datatypes.h>

// other
#include <sensor_msgs/PointCloud2.h>


class CleaningPlanAlgNode : public algorithm_base::IriBaseAlgorithm<CleaningPlanAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher image_plan_out_publisher_;
    sensor_msgs::Image Image_msg_;
    ros::Publisher visualization_markers_publisher_;
    visualization_msgs::MarkerArray MarkerArray_msg_;

    // [subscriber attributes]

    // [service attributes]
    ros::ServiceServer representation_to_string_server_;
    bool representation_to_stringCallback(estirabot_msgs::RepresentationToString::Request &req, estirabot_msgs::RepresentationToString::Response &res);
    CMutex representation_to_string_mutex_;
    ros::ServiceServer get_dirty_areas_state_representation_server_;
    bool get_dirty_areas_state_representationCallback(iri_clean_board::StateRepresentation::Request &req, iri_clean_board::StateRepresentation::Response &res);
    CMutex get_dirty_areas_state_representation_mutex_;
    ros::ServiceServer get_trajectories_from_plan_server_;
    bool get_trajectories_from_planCallback(iri_clean_board::PlanToTrajectories::Request &req, iri_clean_board::PlanToTrajectories::Response &res);
    CMutex get_trajectories_from_plan_mutex_;

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    
    // Ellipses representation
    EllipsesRepresentation ellipses_representation;
    
    // Other
    tf::TransformBroadcaster br;
    
    // parameters
    uint32_t max_number_actions;
    bool no_planning;
    bool board_plan;
    bool no_perception;
    std::string file_planner_state;
    
    
    // debugging functions
    void show_dirty_areas_information(sensor_msgs::PointCloud2 pointcloud, std::vector< estirabot_msgs::DirtyArea > dirty_areas);
    
    

  public:
    CleaningPlanAlgNode(void);

    ~CleaningPlanAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
    
    // auxiliary functions
    
    void savePlanningResponse(iri_clean_board::PlanToTrajectories::Request req, 
                                iri_clean_board::PlanToTrajectories::Response &res);
    
    void getNearestCleanPlan(iri_clean_board::PlanToTrajectories::Request req, iri_clean_board::PlanToTrajectories::Response &res);
    
    void getNoPerceptionCleanPlan(iri_clean_board::PlanToTrajectories::Request req, iri_clean_board::PlanToTrajectories::Response &res);
};

#endif