map_location_alg_node.cpp

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#include "map_location_alg_node.h"

MapLocationAlgNode::MapLocationAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<MapLocationAlgorithm>(),
  it_(public_node_handle_)
{
  //init class attributes if necessary
  this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  img_pub_ = it_.advertise("map_image", 1);
  
  // [init subscribers]
  this->mapcode_subscriber_ = this->public_node_handle_.subscribe("mapcode", 100, &MapLocationAlgNode::mapcode_callback, this);
  this->locations_subscriber_ = this->public_node_handle_.subscribe("locations", 100, &MapLocationAlgNode::locations_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]

  t=0;
  this->public_node_handle_.getParam("path", this->alg_.path);
  this->alg_.loadFiles();
}

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

void MapLocationAlgNode::mainNodeThread(void)
{
  this->updateImage();
  this->updateLocations();
  this->alg_.mapIteration();
  //this->alg_.logoIteration();

  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  
  // [fill action structure and make request to the action server]

  // [publish messages]
  img_pub_.publish(this->img_msg);
}

/*  [subscriber callbacks] */
void MapLocationAlgNode::mapcode_callback(const std_msgs::String::ConstPtr& msg) 
{ 
  ROS_INFO("MapLocationAlgNode::mapcode_callback: New Message Received"); 

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

  //std::cout << msg->data << std::endl;
  std::string code = msg->data;
  this->mapCode_ = atoi(code.c_str());
  
  this->alg_.addLocationWithCode(this->mapCode_);

  //unlock previously blocked shared variables 
  this->alg_.unlock(); 
  //this->mapcode_mutex_.exit(); 
}
void MapLocationAlgNode::locations_callback(const geometry_msgs::PoseArray::ConstPtr& msg) 
{ 
  ROS_INFO("MapLocationAlgNode::locations_callback: New Message Received"); 

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

  //std::cout << msg->data << std::endl; 
  this->locations = *msg;
  
  //unlock previously blocked shared variables 
  //this->alg_.unlock(); 
  this->locations_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void MapLocationAlgNode::addNodeDiagnostics(void)
{
}

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

void MapLocationAlgNode::updateLocations()
{
  if(this->locations.poses.size()!=0)
  {
    //ROS_INFO("MapLocationAlgNode::updateLocations: Updating locations"); 
    for(unsigned int i=0; i<locations.poses.size(); i++)
    {
      this->alg_.addLocation(locations.poses[i].position.x, locations.poses[i].position.y, 0);
    }
    this->locations.poses.clear();
  }
  
  if(t==0)
    this->alg_.addLocation(1050  , 900,   0); //orange
  
  /*Example destinations (green)
  if(t<6)
  {
    this->alg_.addLocationWithCode(400+t+1);
  }
  t++;
  */

  /*Example locations
  if(t<10)
    this->alg_.addLocation(1050  , 900,   0);
  
  this->alg_.addLocation( 882  ,1035,   1);
  this->alg_.addLocation(1240  , 680-t, 2);
  this->alg_.addLocation( 640+t, 900-t, 3);
  
  if(t==50)
    this->alg_.addLocation( 1, 1,  -3);
  
  if(t==10)
    this->alg_.addLocation(0,0,-1);
  
  t=t+10;
  if(t==100)
    t=0;
  */
  /*Example locations*/
}

void MapLocationAlgNode::updateImage()
{
  cv::Mat image = this->alg_.getImage();
  cv_bridge::CvImagePtr cv_ptr(new cv_bridge::CvImage);
  cv_ptr->image=image;
  cv_ptr->encoding = "bgr8";
  this->img_msg = cv_ptr->toImageMsg();
}