vws_alg_node.cpp

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#include "vws_alg_node.h"

VwsAlgNode::VwsAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<VwsAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  this->set_centroids_server_ = this->public_node_handle_.advertiseService("set_centroids", &VwsAlgNode::set_centroidsCallback, this);
  this->get_vws_server_ = this->public_node_handle_.advertiseService("get_vws", &VwsAlgNode::get_vwsCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void VwsAlgNode::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] */

/*  [service callbacks] */
bool VwsAlgNode::set_centroidsCallback(iri_publish_params::classifier_update_service::Request &req, iri_publish_params::classifier_update_service::Response &res) 
{ 
        ROS_INFO("VwsAlgNode::set_centroidsCallback: New Request Received!"); 
        
        //use appropiate mutex to shared variables if necessary 
        this->alg_.lock(); 
        //this->set_centroids_mutex_.enter(); 
        
        // If something fails maybe size is incorrect
        ROS_INFO_STREAM("Size " << req.params.update_params.size() << " y "  << req.params.update_params[0].params.size());
        
        // each row is a descriptor
        this->alg_.centroids_ = cv::Mat::zeros(req.params.update_params.size(), req.params.update_params[0].params.size(), CV_32FC1); // (rows, cols)
        for(size_t i=0; i < req.params.update_params.size(); i++) {
                for(size_t j=0; j< req.params.update_params[i].params.size(); j++) {
                  this->alg_.centroids_.at<float>(i,j) = (float)req.params.update_params[i].params[j];
                }
        }
        
        this->alg_.centroids_ready_ = true;
        
        //unlock previously blocked shared variables 
        this->alg_.unlock(); 
        //this->set_centroids_mutex_.exit(); 
        res.result = true;
        
        return true; 
}
bool VwsAlgNode::get_vwsCallback(iri_perception_msgs::DescriptorsToVws::Request &req, iri_perception_msgs::DescriptorsToVws::Response &res) 
{ 
        ROS_INFO("VwsAlgNode::get_vwsCallback: New Request Received!"); 

        //use appropiate mutex to shared variables if necessary 
        //this->alg_.lock(); 
        //this->get_vws_mutex_.enter(); 
        
        if (this->alg_.centroids_ready_) {
                ROS_DEBUG("Getting geo_vw.");
                res.geo_vw_set = this->alg_.get_geo_vw_from_descriptors(req);
                return true;
        }
        else {
                ROS_ERROR("iri_vws: Need centroids!");
                return false;
        }

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

        //return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void VwsAlgNode::addNodeDiagnostics(void)
{
}

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