AsyncMerger.hpp

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 *  Created on: 26.06.2013.
 *  Author: Dula Nad
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#ifndef ASYNCMERGER_HPP_
#define ASYNCMERGER_HPP_
#include <labust/tools/conversions.hpp>

#include <auv_msgs/BodyForceReq.h>
#include <auv_msgs/BodyVelocityReq.h>
#include <std_msgs/Float32.h>
#include <ros/ros.h>

#include <boost/thread/mutex.hpp>

#include <vector>
#include <string>
#include <map>

namespace labust
{
        namespace control
        {
                class AsyncMergerBase
                {
                        typedef std::map<std::string,bool> ControllerMap;
                public:
                        typedef boost::shared_ptr<AsyncMergerBase> Ptr;
                protected:
                        AsyncMergerBase();
                        virtual ~AsyncMergerBase(){};
                        void copyToVector(const auv_msgs::BodyForceReq::ConstPtr& topic, bool* axis, double* val);
                        void copyFromVector(const auv_msgs::BodyForceReq::Ptr& topic, bool* axis, double* val);
                        void copyToVector(const auv_msgs::BodyVelocityReq::ConstPtr& topic, bool* axis, double* val);
                        void copyFromVector(const auv_msgs::BodyVelocityReq::Ptr& topic, bool* axis, double* val);

                        void handleRequester(const std::string& requester);
                        bool allArrived();
                        void clearAll();
                        void reset_axes();
                        void checkArrived(const ros::TimerEvent& event);
                        virtual void publishFinal() = 0;

                        ControllerMap controllers;
                        ros::Subscriber in;
                        ros::Publisher out, loop_time;
                        ros::Timer timer;
                        ros::Time lastAll;

                        bool outaxis[6];
                        double outval[6];
                        boost::mutex cnt_mux;
                        double Ts;
                };


                template <class Topic>
                struct AsyncMerger : public virtual AsyncMergerBase
                {

                public:
                        AsyncMerger(){this->onInit();};

                        void onInit()
                        {
                                ros::NodeHandle nh;
                                in = nh.subscribe<Topic>("in", 0, &AsyncMerger::onTopic, this);
                                out = nh.advertise<Topic>("out",1);
                        }

                private:
                        void onTopic(const typename Topic::ConstPtr& topic)
                        {
                                bool axis[6];
                                double val[6];
                                this->copyToVector(topic,axis,val);

                                boost::mutex::scoped_lock l(cnt_mux);
                                for(int i=0; i<6; ++i)
                                {
                                        if (!axis[i])
                                        {

                                                outaxis[i] = axis[i];
                                                outval[i] = val[i];
                                        }
                                }
                                this->handleRequester(topic->goal.requester);
                        }

                        void publishFinal()
                        {
                                typename Topic::Ptr outTopic(new Topic());
                                outTopic->header.stamp = ros::Time::now();
                                outTopic->goal.requester = "async_merger";

                                this->copyFromVector(outTopic, outaxis, outval);
                                out.publish(outTopic);
                                std_msgs::Float32 data;
                                data.data = (ros::Time::now() - lastAll).toSec();
                                loop_time.publish(data);
                        }

                };
        }
}
/* ASYNCMERGER_HPP_ */
#endif