pp_explorer_comm.cpp

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* Author: Gonçalo Cabrita on 05/03/2011
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#include <ros/ros.h>
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <vector>
#include <string>
#include <signal.h>
#include <boost/thread/mutex.hpp>
#include <boost/thread/thread.hpp>
#include <tf/transform_listener.h>
#include <tf/message_filter.h>
#include <message_filters/subscriber.h>
#include <tf/transform_broadcaster.h>
#include <lse_sensor_msgs/Nostril.h>
#include <pp_explorer/ForeignNostril.h>
#include "wifi_comm/wifi_comm_lib.h"

using namespace wifi_comm;

class PPExplorerComm
{
        public:
        PPExplorerComm();
        ~PPExplorerComm();
        
        private:
        WiFiComm * comm;
        ros::NodeHandle n_;
        
        message_filters::Subscriber<lse_sensor_msgs::Nostril> nose_sub_;
        tf::TransformListener tf_;
        tf::MessageFilter<lse_sensor_msgs::Nostril> * tf_filter_;
        
        tf::TransformBroadcaster broadcaster_;
        
        ros::Publisher foreign_nose_pub_;
        ros::Subscriber foreign_nose_sub_;
        
        ros::Publisher nose_pub_;
        
        void localNoseCallback(const boost::shared_ptr<const lse_sensor_msgs::Nostril>& msg);
        void othersNoseCallback(const pp_explorer::ForeignNostril::ConstPtr& msg);
        void robotJoinedNetwork(char * ip);
};

PPExplorerComm::PPExplorerComm() : n_()
{
        comm = new WiFiComm(boost::bind(&PPExplorerComm::robotJoinedNetwork, this, _1));

        nose_sub_.subscribe(n_, "/nose", 10);
        tf_filter_ = new tf::MessageFilter<lse_sensor_msgs::Nostril>(nose_sub_, tf_, "/map", 50);
    tf_filter_->registerCallback( boost::bind(&PPExplorerComm::localNoseCallback, this, _1) );
    
    foreign_nose_pub_ = n_.advertise<pp_explorer::ForeignNostril>("/my_nose", 10);
        foreign_nose_sub_ = n_.subscribe("/others_nose", 50, &PPExplorerComm::othersNoseCallback, this);
        
        nose_pub_ = n_.advertise<lse_sensor_msgs::Nostril>("/nose", 10);
}

PPExplorerComm::~PPExplorerComm()
{
        delete comm;
}

void PPExplorerComm::localNoseCallback(const boost::shared_ptr<const lse_sensor_msgs::Nostril>& msg)
{       
        if(msg->header.frame_id.compare("dummy") != 0) return;

        geometry_msgs::PoseStamped nose;
        nose.header.frame_id = msg->header.frame_id;
        nose.header.stamp = msg->header.stamp;
        nose.pose.position.x = 0.0;     
        nose.pose.position.y = 0.0;
        nose.pose.position.z = 0.0;
        
        geometry_msgs::PoseStamped pp_pose;
        try 
        {
                // Transform the bubble center from the chemical sensor frame to the map frame
                tf_.transformPose("/map", nose, pp_pose);
        }
        catch(tf::TransformException &ex) 
        {
                ROS_ERROR("PPExplorerComm -- Error: %s", ex.what());
                return;
        }
        
        pp_explorer::ForeignNostril my_nose_msg;
        my_nose_msg.nostril = *msg;
        my_nose_msg.pose = pp_pose;
        
        foreign_nose_pub_.publish(my_nose_msg);
}

void PPExplorerComm::othersNoseCallback(const pp_explorer::ForeignNostril::ConstPtr& msg)
{
        lse_sensor_msgs::Nostril nose_msg = msg->nostril;
        nose_msg.header.stamp = ros::Time::now();
        
        nose_pub_.publish(nose_msg);
        
        broadcaster_.sendTransform(tf::StampedTransform(tf::Transform(tf::Quaternion(msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z, msg->pose.pose.orientation.w), tf::Vector3(msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.position.z)), ros::Time::now(), msg->pose.header.frame_id.c_str()
        
        , msg->nostril.header.frame_id.c_str()));
}

void PPExplorerComm::robotJoinedNetwork(char * ip)
{
        // Send
        comm->openForeignRelay(ip, "/my_nose", "/others_nose");
}


int main( int argc, char** argv )
{
        ros::init(argc, argv, "pp_explorer_comm");

        PPExplorerComm myComm;

        ros::spin();

        return 0;
}

// EOF