laser_people_label_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 _laser_people_label_alg_node_h_
#define _laser_people_label_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "laser_people_label_alg.h"

#include <sys/stat.h>
#include <rosbag/bag.h>
#include <rosbag/view.h>
#include <rosbag/query.h>

// [publisher subscriber headers]
#include <visualization_msgs/MarkerArray.h>
#include <geometry_msgs/PoseStamped.h>
#include <sensor_msgs/LaserScan.h>

// [service client headers]

// [action server client headers]

typedef enum {idle, segment, next, skip, go, end, Apos, Aneg, Areset, play, stop} ButtonType;
typedef enum {standby, ending, playing} ModeType;

class LaserPeopleLabelAlgNode : public algorithm_base::IriBaseAlgorithm<LaserPeopleLabelAlgorithm>
{
  private:

    bool debug;
    // [publisher attributes]
    ros::Publisher areas_array_publisher_;
    visualization_msgs::MarkerArray MarkerArrayAreas_msg_;

    ros::Publisher buttons_array_publisher_;
    visualization_msgs::MarkerArray MarkerArrayButtons_msg_;

    ros::Publisher scanLabel_publisher_;
    sensor_msgs::LaserScan LaserScan_msg_;

    // [subscriber attributes]
    ros::Subscriber goal_subscriber_;
    void goal_callback(const geometry_msgs::PoseStamped::ConstPtr& msg);
    CMutex goal_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]

    // [class]
    rosbag::Bag bag;
    rosbag::View view;
    rosbag::View::iterator iter;

    sensor_msgs::LaserScan currentScan;
    std::vector<sensor_msgs::LaserScan> bagScans;

    string filePath;
    string bagFilePath;
    string labelsFilePath;
    string scanTopic;

    int currentIteration;
    int currentBagScan;
    bool append;
    bool skipScan;
    int  modeArea;
    int  areaVertex;

    std::vector< float > area;
    std::vector< std::vector< float > > areaListPos;
    std::vector< std::vector< float > > areaListNeg;


    vector<float> intensities;
    ButtonType button_type;
    ModeType   mode;

    vector<float> currentGoal;

    void initialize();
    void loadBag(void);
    bool doFileExist(string filePath);
    void getButton(vector<float> goal);
    void doButton();
    void nextScan();
    void goToScan();
    void setArea();
    void labelAreas();
    void fillButtons(visualization_msgs::MarkerArray & buttons);
    void fillAreas(visualization_msgs::MarkerArray & areas);

  public:
    LaserPeopleLabelAlgNode(void);

    ~LaserPeopleLabelAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]

    // [test functions]
};

#endif