zyonz_geometric_based_single_leaf_probing_alg_node.cpp

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#include "zyonz_geometric_based_single_leaf_probing_alg_node.h"
#include <tf/transform_broadcaster.h>

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

  // [init publishers]
  output_marker_publisher_ = public_node_handle_.advertise<visualization_msgs::Marker>("output_marker", 1);
  pose_publisher_ = public_node_handle_.advertise<geometry_msgs::PoseStamped>("probing_pose", 1);
  // [init subscribers]
  
  // [init services]
  get_leaf_probing_server_ = public_node_handle_.advertiseService("leaf_probing_srv", &ZyonzGeometricBasedSingleLeafProbingAlgNode::get_leaf_probingCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void ZyonzGeometricBasedSingleLeafProbingAlgNode::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 ZyonzGeometricBasedSingleLeafProbingAlgNode::get_leaf_probingCallback(zyonz_msgs::GetProbingSteps::Request &req, zyonz_msgs::GetProbingSteps::Response &res) 
{ 
  ROS_INFO("ZyonzGeometricBasedSingleLeafProbingAlgNode::get_leaf_probingCallback: New Request Received!"); 

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

  sensor_msgs::PointCloud2::ConstPtr point_cloud_ConstPtr;
  point_cloud_ConstPtr = boost::make_shared<sensor_msgs::PointCloud2>(req.point_cloud);

  if(!alg_.get_leaf_probing_point(point_cloud_ConstPtr)) 
  { 
    ROS_INFO("ZyonzGeometricBasedSingleLeafProbingAlgNode::get_leaf_probingCallback: ERROR: alg is not on run mode yet."); 
  } 

  res.steps.clear();
  res.steps.push_back(alg_.getProbingSteps());

  // Publishing data
  output_marker_publisher_.publish(alg_.getMarker());
  pose_publisher_.publish(alg_.getProbingSteps().probing);
  
  static tf::TransformBroadcaster br;
  tf::Transform transform;
  transform.setOrigin( tf::Vector3(alg_.getLeafCentroid().x(), alg_.getLeafCentroid().y(), alg_.getLeafCentroid().z()) );
  transform.setRotation( tf::Quaternion(alg_.getLeafPose().x(), alg_.getLeafPose().y(), alg_.getLeafPose().z(),alg_.getLeafPose().w()) );
  br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/camboard_frame", "centroid"));

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

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void ZyonzGeometricBasedSingleLeafProbingAlgNode::addNodeDiagnostics(void)
{
}

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