ros_tagdetect_client.h

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/*
 * Copyright (c) 2019 Roboception GmbH
 *
 * Author: Monika Florek-Jasinska
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 * this list of conditions and the following disclaimer.
 *
 * 2. Redistributions in binary form must reproduce the above copyright notice,
 * this list of conditions and the following disclaimer in the documentation
 * and/or other materials provided with the distribution.
 *
 * 3. Neither the name of the copyright holder nor the names of its contributors
 * may be used to endorse or promote products derived from this software without
 * specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef RC_TAGDETECTION_CLIENT_ROS_TAGDETECT_CLIENT_H
#define RC_TAGDETECTION_CLIENT_ROS_TAGDETECT_CLIENT_H

#include <chrono>
#include <thread>
#include <memory>
#include <atomic>

#include <ros/ros.h>
#include <dynamic_reconfigure/server.h>
#include <std_srvs/Trigger.h>
#include <rc_tagdetect_client/DetectTags.h>
#include <rc_tagdetect_client/DetectedTags.h>
#include <rc_tagdetect_client/StartContinuousDetection.h>
#include <rc_tagdetect_client/TagDetectConfig.h>
#include <rc_common_msgs/ReturnCode.h>

#include "rest_helper.h"
#include "visualization.h"

namespace rc_tagdetect_client
{
class RosTagdetectClient
{
public:
  RosTagdetectClient(const std::string& host, const ros::NodeHandle& nh, const std::string& detection_type);

  ~RosTagdetectClient();

private:
  template <typename Request, typename Response>
  bool callService(const std::string& name, const Request& req, Response& res);

  bool detect(rc_tagdetect_client::DetectTagsRequest& req, rc_tagdetect_client::DetectTagsResponse& response);

  bool detectService(rc_tagdetect_client::DetectTagsRequest& request,
                     rc_tagdetect_client::DetectTagsResponse& response);

  bool startContinousDetection(rc_tagdetect_client::StartContinuousDetectionRequest& request,
                               rc_tagdetect_client::StartContinuousDetectionResponse& response);

  bool stopContinousDetection(std_srvs::TriggerRequest& request, std_srvs::TriggerResponse& response);

  void startTagDetect();

  void stopTagDetect();

  void advertiseServicesAndTopics();

  /*
   * Reads tagdetect parameters from sensor and ros parameter (if a value for a parameter is defined in ROS parameter
   * server this value is used), and start dynamic reconfigure server.
   */
  void initConfiguration();

  void dynamicReconfigureCallback(rc_tagdetect_client::TagDetectConfig& config, uint32_t);

  ros::NodeHandle nh_;
  ros::ServiceServer srv_detect_;
  ros::ServiceServer srv_start_continuous_detection_;
  ros::ServiceServer srv_stop_continuous_detection_;

  ros::Publisher detections_pub_;

  std::thread continuous_mode_thread_;
  std::atomic_bool stop_continuous_mode_thread_;

  std::unique_ptr<dynamic_reconfigure::Server<rc_tagdetect_client::TagDetectConfig>> server_;
  std::unique_ptr<rc_rest_api::RestHelper> rest_helper_;
  std::unique_ptr<rc_tagdetect_client::Visualization> visualizer_;

  std::tuple<size_t, size_t, size_t> image_version_;
};

}  // namespace rc_tagdetect_client

#endif  // RC_TAGDETECTION_CLIENT_ROS_TAGDETECT_CLIENT_H