ObjectLabelingCanvas.java

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package edu.tum.cs.ias.knowrob;

import java.awt.event.MouseListener;
import java.awt.event.MouseMotionListener;
import controlP5.ControlP5;
import processing.core.*;
import ros.*;
import ros.pkg.mesh_label_node.srv.LabelMesh;


public class ObjectLabelingCanvas extends PApplet implements MouseListener, MouseMotionListener {

        private static final long serialVersionUID = 4575739930038583994L;
        public enum Part {KITCHEN_VIS, ACTION_VIS, VIDEO, ALL}; 

          
        static Ros ros;
        static NodeHandle n;
        protected static void initRos() {

        ros = Ros.getInstance();

                if(!Ros.getInstance().isInitialized()) {
                ros.init("knowrob_comm_vis_applet");
                }
                n = ros.createNodeHandle();

        }       
        
        // components
        protected MeshLabelApplet label_applet;
        protected MeshVisApplet mesh_applet;
        
        public ControlP5 controlP5;
        
        private String label="";
        private String label_set="";
        
        public ObjectLabelingCanvas() {
                
                this.init();


                label_applet = new MeshLabelApplet();
                label_applet.setSize(700, 80);
                label_applet.init();
                
                label_applet.setObjectLabelingCanvas(this);
                
                mesh_applet = new MeshVisApplet();
                mesh_applet.setSize(700, 600);
                mesh_applet.init();
                
                this.add(label_applet);
                this.add(mesh_applet);
        

                // start ROS environment
                new LabelMeshCallback();
            
            Thread startRosServices = new Thread( new RosServiceThread() ); 
            startRosServices.start();
                
                
                this.setSize(700, 700);
                this.draw();
                this.setVisible(true);
                
        }
        
        
        public void draw() {
                background(20, 20, 20);
        }

        
          public class RosServiceThread implements Runnable {
                
                @Override public void run() {
                        
                        try {

                                initRos();
                                
                                n.advertiseService("/mesh_label_node",  new LabelMesh(),  new LabelMeshCallback());
                                ros.spin();
                                
                        } catch(RosException e) {
                                e.printStackTrace();
                        }
                }
          }
        
                class LabelMeshCallback implements ServiceServer.Callback<LabelMesh.Request, LabelMesh.Response> {
                        
                        @Override
                        public LabelMesh.Response call(LabelMesh.Request req) {

                                LabelMesh.Response res = new LabelMesh.Response();
                                res.label = "";

                                if (req.mesh != null) {
                                        
                                        mesh_applet.readTriangleMesh(req.mesh);
                                        
                                        // wait for the GUI to set the label and notify me
                                        synchronized( label_set ) 
                                        { 
                                          try { 
                                            label_set.wait(); 
                                            res.label = label;
                                            return res;
                                            
                                          } catch ( InterruptedException e ) { 
                                                  e.printStackTrace();
                                          } 
                                        }
                                }
                                return res;
                                
                        }
                }
                
        // called from the GUI: label set, notify waiting ROS answer thread
        public void setLabel(String l) {
                
                synchronized(label_set) {
                        label=l;
                        label_set.notify();
                }
        }
                
                
        public static void main(String args[]) {
                PApplet.main(new String[] { "edu.tum.cs.ias.knowrob.ObjectLabelingCanvas" });
        }
}