from_topic_to_pointcloud_alg_node.cpp

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#include "from_topic_to_pointcloud_alg_node.h"

FromTopicToPointcloudAlgNode::FromTopicToPointcloudAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<FromTopicToPointcloudAlgorithm>(), ack_(false)
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  this->getPointCloud2_server_ = this->public_node_handle_.advertiseService("getPointCloud2", &FromTopicToPointcloudAlgNode::getPointCloud2Callback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void FromTopicToPointcloudAlgNode::mainNodeThread(void)
{
  // [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 FromTopicToPointcloudAlgNode::topic_name_callback(const sensor_msgs::PointCloud2::ConstPtr& msg) 
{ 
  //ROS_INFO("FromTopicToPointcloudAlgNode::topic_name_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  //this->alg_.lock(); 
  this->topic_name_mutex_.enter();
  
  pointcloud_ = *msg; 
  ack_ = true;

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

/*  [service callbacks] */
bool FromTopicToPointcloudAlgNode::getPointCloud2Callback(iri_perception_msgs::GetPointCloud2::Request &req, iri_perception_msgs::GetPointCloud2::Response &res) 
{ 
  ROS_INFO("FromTopicToPointcloudAlgNode::getPointCloud2Callback: New Request Received!"); 
  
  topic_name_subscriber_ = this->public_node_handle_.subscribe(req.topic.data, 1, &FromTopicToPointcloudAlgNode::topic_name_callback, this);
  usleep(50000);

  //use appropiate mutex to shared variables if necessary 
  //this->alg_.lock(); 
  this->getPointCloud2_mutex_.enter(); 

  if (!ack_){
    this->getPointCloud2_mutex_.exit();
    //usleep(5000);
    return false;
  }

  res.pointcloud = pointcloud_;
  ack_ = false;
  topic_name_subscriber_.shutdown();

  //unlock previously blocked shared variables 
  //this->alg_.unlock(); 
  this->getPointCloud2_mutex_.exit(); 

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void FromTopicToPointcloudAlgNode::addNodeDiagnostics(void)
{
}

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