screen_information_alg_node.cpp

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#include "screen_information_alg_node.h"

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

  // [init publishers]
  
  // [init subscribers]
  this->answerCode_subscriber_ = this->public_node_handle_.subscribe("answerCode", 100, &ScreenInformationAlgNode::answerCode_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
  
  this->public_node_handle_.getParam("path", this->alg_.path);
  this->alg_.initialize();
}

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

void ScreenInformationAlgNode::mainNodeThread(void)
{
  this->alg_.lock();
  this->alg_.iteration();
  this->alg_.unlock();
  // [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 ScreenInformationAlgNode::answerCode_callback(const iri_perception_msgs::voiceRecognitionAnswer::ConstPtr& msg) 
{ 
  //ROS_INFO("ScreenInformationAlgNode::answerCode_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  this->alg_.lock(); 
  //this->answerCode_mutex_.enter(); 

  //std::cout << msg->data << std::endl;
  this->alg_.setCode(msg->code);
  this->alg_.setAnswer(msg->answer);

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

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void ScreenInformationAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void ScreenInformationAlgNode::addNodeDiagnostics(void)
{
}

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