filter_pointcloud2_z_value_alg_node.cpp

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#include "filter_pointcloud2_z_value_alg_node.h"

FilterPointcloud2ZValueAlgNode::FilterPointcloud2ZValueAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<FilterPointcloud2ZValueAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  this->output_nan_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud2>("output_nan", 1);
  this->output_max_publisher_ = this->public_node_handle_.advertise<sensor_msgs::PointCloud2>("output_max", 1);
  
  // [init subscribers]
  this->input_subscriber_ = this->public_node_handle_.subscribe("input", 1, &FilterPointcloud2ZValueAlgNode::input_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

FilterPointcloud2ZValueAlgNode::~FilterPointcloud2ZValueAlgNode(void)
{
  // [free dynamic memory]
}

void FilterPointcloud2ZValueAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  //this->PointCloud2_msg_.data = my_var;
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
  //this->output_nan_publisher_.publish(this->PointCloud2_msg_);
  //this->output_max_publisher_.publish(this->PointCloud2_msg_);
}

/*  [subscriber callbacks] */
void FilterPointcloud2ZValueAlgNode::input_callback(const sensor_msgs::PointCloud2::ConstPtr& msg) 
{ 
  //ROS_INFO("FilterPointcloud2ZValueAlgNode::input_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  alg_.lock(); 
  input_mutex_.enter(); 

  if (!alg_.apply_z_value_filter(msg))
  { 
      ROS_INFO("FilterPointcloud2ZValueAlgNode::input_callback: ERROR: alg is not on run mode yet."); 
  } 

  output_nan_publisher_.publish(*alg_.get_nan_pc());
  output_max_publisher_.publish(*alg_.get_max_pc());

  //unlock previously blocked shared variables 
  alg_.unlock(); 
  input_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void FilterPointcloud2ZValueAlgNode::node_config_update(Config &config, uint32_t level)
{
    alg_.lock();
    alg_.set_z_thr(config.z_thr);
    alg_.unlock();
}

void FilterPointcloud2ZValueAlgNode::addNodeDiagnostics(void)
{

}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<FilterPointcloud2ZValueAlgNode>(argc, argv, "filter_pointcloud2_z_value_alg_node");
}