rule_learner_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 _rule_learner_alg_node_h_
#define _rule_learner_alg_node_h_

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

// [publisher subscriber headers]

// [service client headers]
//#include <iri_rule_learner/LearnWithPasula.h>
#include <iri_learning_msgs/LearnRulesFromTransitions.h>
#include <estirabot_msgs/RepresentationToString.h>
#include <estirabot_msgs/StateRepresentationChanges.h>
#include <estirabot_msgs/AddState.h>
#include <estirabot_msgs/AddAction.h>

// [action server client headers]

// #include <fstream>

class RuleLearnerAlgNode : public algorithm_base::IriBaseAlgorithm<RuleLearnerAlgorithm>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]

    // [service attributes]
//    ros::ServiceServer learn_with_pasula_server_;
//    bool learn_with_pasulaCallback(iri_rule_learner::LearnWithPasula::Request &req, iri_rule_learner::LearnWithPasula::Response &res);
//    CMutex learn_with_pasula_mutex_;
    ros::ServiceServer add_state_server_;
    bool add_stateCallback(estirabot_msgs::AddState::Request &req, estirabot_msgs::AddState::Response &res);
    CMutex add_state_mutex_;
    ros::ServiceServer add_action_server_;
    bool add_actionCallback(estirabot_msgs::AddAction::Request &req, estirabot_msgs::AddAction::Response &res);
    CMutex add_action_mutex_;

    // [client attributes]
    ros::ServiceClient learn_pasula_client_;
    iri_learning_msgs::LearnRulesFromTransitions learn_pasula_srv_;
    ros::ServiceClient representation_to_string_client_;
    estirabot_msgs::RepresentationToString representation_to_string_srv_;
    ros::ServiceClient get_state_changes_client_;
    estirabot_msgs::StateRepresentationChanges get_state_changes_srv_;

    // [action server attributes]

    // [action client attributes]
    
//     sensor_msgs::Image last_image_;
    Symbol last_action_;
    std::string last_state_;
//     std::vector<estirabot_msgs::PointsDistanceMsg> last_distances_;
    std::vector<estirabot_msgs::DirtyArea> dirty_areas_;
//     std::vector<uint> target_dirty_areas_;
    
    bool needs_learning_;
    
    ros::Duration pasula_time_;
    uint pasula_iter_;
    
    
    

  public:
    RuleLearnerAlgNode(void);

    ~RuleLearnerAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif