image_recorder_alg_node.cpp

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#include "image_recorder_alg_node.h"

ImageRecorderAlgNode::ImageRecorderAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<ImageRecorderAlgorithm>(),
  iit_database(0),
  list_pointer(0)
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  
  // [init subscribers]
  this->input_subscriber_ = this->public_node_handle_.subscribe("image", 100, &ImageRecorderAlgNode::input_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void ImageRecorderAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
}

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

  //use appropiate mutex to shared variables if necessary 
  //this->alg_.lock(); 
  //this->input_mutex_.enter(); 
  iit_database ++;
  
  std::string fileString = path + "/list.lst";
  ROS_INFO("path=%s",path.c_str());
  FILE * file_out;
  file_out = fopen (  fileString.c_str() , "r");
  fseek(file_out , list_pointer*(iit_database -1) , SEEK_SET );
  char file_name[64];
  if (fscanf(file_out, "%s\n" , file_name) != EOF) { 
    std::string string_file_name = file_name;
    fileString = path + string_file_name;

    IplImage *img = 0;
    std::string cv_encoding="passthrough";
    sensor_msgs::CvBridge bridge;
    img = bridge.imgMsgToCv(msg, cv_encoding);
    IplImage *frame = img;
//    IplImage *frame = ImageRecorderAlgNode::getIplImage(msg); 
//    ROS_INFO("%s",fileString.c_str()); 
//    ROS_INFO("frame=%d", (int)frame);
    cvSaveImage(fileString.c_str(),frame);
  //  cvWaitKey(0);    
  //  cvReleaseImage(&frame);
  //std::cout << msg->data << std::endl; 
  }

  if (list_pointer == 0)
    list_pointer = strlen(file_name) + 1;
  fclose(file_out);

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

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void ImageRecorderAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();
        path   = config.images_path;
  this->alg_.unlock();
}

void ImageRecorderAlgNode::addNodeDiagnostics()
{
}


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