people_simulation_alg_node.cpp

Go to the documentation of this file.

#include "people_simulation_alg_node.h"

PeopleSimulationAlgNode::PeopleSimulationAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<PeopleSimulationAlgorithm>(),
  n_persons_(0), simulation_mode_( PeopleSimulationAlgNode::Normal )
{
  //init class attributes if necessary
  this->loop_rate_ = 5;//in [Hz]
    scene_.set_dt( 1.0 / 5.0 );
        //this->public_node_handle_.getParam("simulation_mode", simulation_mode_);
        this->public_node_handle_.getParam("number_persons", n_persons_);
        this->public_node_handle_.getParam("force_map_path", force_map_path_);
    this->public_node_handle_.getParam("destination_map_path", destination_map_path_);
    this->public_node_handle_.getParam("remove_targets", remove_targets_);


  // [init publishers]
    this->tracksMarkers_publisher_ = this->public_node_handle_.advertise<visualization_msgs::MarkerArray>("tracksMarkers", 100);
  this->tracks_publisher_ = this->public_node_handle_.advertise<iri_perception_msgs::peopleTrackingArray>("tracks", 100);
  
  // [init subscribers]
  this->robot_pose_subscriber_ = this->public_node_handle_.subscribe("robot_pose", 100, &PeopleSimulationAlgNode::robot_pose_callback, this);
  
  // [init services]
  this->reset_server_ = this->public_node_handle_.advertiseService("reset", &PeopleSimulationAlgNode::resetCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
  
  init_sim();
}

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

void PeopleSimulationAlgNode::init_sim()
{

        scene_.set_number_virtual_people( n_persons_ );
  scene_.set_remove_targets( remove_targets_ );
        peopleTrackingArray_msg_.header.frame_id = "/map";

  //read destinations
        if ( !scene_.read_destination_map(  destination_map_path_.c_str() ) )
        {
                ROS_ERROR("Could not read map destinations file !!!");
        }
  else{
                ROS_WARN("read destinations map file : SUCCESS!!!");
        }

  //read force map
        if ( !scene_.read_force_map(  force_map_path_.c_str() ) )
        {
                ROS_ERROR("Could not read map force file !!!");
        }
  else{
                ROS_WARN("read map force file : SUCCESS!!!");
        }
        //false = no destroy simulated persons
        //scene_.set_remove_targets(true);

        //target marker
        track_marker_.header.frame_id = "/map";
        track_marker_.ns = "tracks";
        track_marker_.type = visualization_msgs::Marker::CYLINDER;
        track_marker_.action = visualization_msgs::Marker::ADD;
        track_marker_.lifetime = ros::Duration(1.0f);
        track_marker_.scale.x = 0.5;
        track_marker_.scale.y = 0.5;
        track_marker_.scale.z = 0.6;
        track_marker_.color.a = 0.6;
        track_marker_.color.r = 0.0;
        track_marker_.color.g = 1.0;
        track_marker_.color.b = 0.0;
        track_marker_.pose.position.z = 0.3;

        id_marker_.header.frame_id = "/map";
        id_marker_.ns = "ids";
        id_marker_.type = visualization_msgs::Marker::TEXT_VIEW_FACING;
        id_marker_.action = visualization_msgs::Marker::ADD;
        id_marker_.lifetime = ros::Duration(1.0f);
        id_marker_.scale.z = 0.5;
        id_marker_.pose.position.z = 1.0;
        id_marker_.color.a = 0.5;
        id_marker_.color.r = 0.0;
        id_marker_.color.g = 0.0;
        id_marker_.color.b = 0.0;

}

void PeopleSimulationAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  //peopleTrackingArray_msg_.header.seq = seq_cont_; //autocompeted by ros.... lol
  peopleTrackingArray_msg_.header.stamp = ros::Time::now();
  peopleTrackingArray_msg_.peopleSet.clear();
  //for every new trajectory
        iri_perception_msgs::peopleTracking person;
        person.covariances[0] = 1.0; //no uncertanty 

        //scene update
    this->alg_.lock();
        std::vector<SdetectionObservation> obs_scene;
        std::vector<SpointV_cov> scene_targets_pointV;
        std::vector<unsigned int> scene_targets_ids;
        obs_scene.push_back( SdetectionObservation(0, ros::Time::now().toSec() ));//void observation, just for the timestamp
        scene_.update_scene( obs_scene );
  scene_.get_scene_observation(scene_targets_pointV,scene_targets_ids);
    this->alg_.unlock();
        for( unsigned int i=0; i < scene_targets_ids.size(); i++ )
        {

                person.targetId = scene_targets_ids[i];
                person.x = scene_targets_pointV[i].x;
                person.y = scene_targets_pointV[i].y;
                person.vy = scene_targets_pointV[i].vx;
                person.vx = scene_targets_pointV[i].vy;
                peopleTrackingArray_msg_.peopleSet.push_back(person);
        }

        if( vis_mode_ )
        {
                MarkerArray_msg_.markers.clear();
                track_marker_.header.stamp =   peopleTrackingArray_msg_.header.stamp;
                id_marker_.header.stamp =   peopleTrackingArray_msg_.header.stamp;
        for( unsigned int i=0; i < scene_targets_ids.size(); i++ )
                {
                        track_marker_.id = scene_targets_ids[i];
                        track_marker_.pose.position.x = scene_targets_pointV[i].x;
                        track_marker_.pose.position.y = scene_targets_pointV[i].y;
                        MarkerArray_msg_.markers.push_back(track_marker_);
                        id_marker_.id = scene_targets_ids[i];
                        id_marker_.pose.position.x = scene_targets_pointV[i].x;
                        id_marker_.pose.position.y = scene_targets_pointV[i].y;
                        std::ostringstream target_id;
                        target_id << id_marker_.id;
                        id_marker_.text = target_id.str();
                        MarkerArray_msg_.markers.push_back(id_marker_);
                }
                this->tracksMarkers_publisher_.publish(this->MarkerArray_msg_);
        }


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

  // [publish messages]
  this->tracks_publisher_.publish(this->peopleTrackingArray_msg_);
}

/*  [subscriber callbacks] */
void PeopleSimulationAlgNode::robot_pose_callback(const geometry_msgs::PoseStamped::ConstPtr& msg) 
{ 
  ROS_INFO("PeopleSimulationAlgNode::robot_pose_callback: New Message Received"); 

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

   scene_.update_robot( SdetectionObservation( 0, msg->header.stamp.toSec(), 
                                                                           msg->pose.position.x, msg->pose.position.y ,
                                                                           0.0, 0.0     ) );


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

/*  [service callbacks] */
bool PeopleSimulationAlgNode::resetCallback(std_srvs::Empty::Request &req, std_srvs::Empty::Response &res) 
{ 
  ROS_INFO("PeopleSimulationAlgNode::resetCallback: New Request Received!"); 

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

  if( simulation_mode_ == PeopleSimulationAlgNode::Density_incremental )
  {
    //TODO: set the incremental proportion
    //n_persons_ = (num_experiment_/25 + 1)*25;
    //scene_.set_number_virtual_people( n_persons_ );
  }

  
  this->alg_.lock(); 
  ROS_INFO("PeopleSimulationAlgNode::resetCallback: Processin New Request!"); 
  //do operations with req and output on res 
  scene_.clear_scene();
  scene_.set_number_virtual_people( n_persons_ );
  this->alg_.unlock(); 

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

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

        ROS_INFO("         *******  algorithm config update  *******\n\n");
    simulation_mode_ = (PeopleSimulationAlgNode::simulation_mode) config.simulation_mode;
    vis_mode_ = config.vis_mode;
        n_persons_ = config.number_persons;
        scene_.set_number_virtual_people( n_persons_ );
 
        
  this->alg_.unlock();
}

void PeopleSimulationAlgNode::addNodeDiagnostics(void)
{
}

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