zyonz_nbv_geometric_simple_alg_node.cpp

Go to the documentation of this file.

#include "zyonz_nbv_geometric_simple_alg_node.h"

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

  // [init publishers]
  
  // [init subscribers]
  
  // [init services]
  get_nbv_server_ = public_node_handle_.advertiseService("get_nbv", &ZyonzNbvGeometricSimpleAlgNode::get_nbvCallback, this);
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
}

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

void ZyonzNbvGeometricSimpleAlgNode::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 ZyonzNbvGeometricSimpleAlgNode::get_nbvCallback(zyonz_nbv_geometric_simple::GetNBVPose::Request &req, zyonz_nbv_geometric_simple::GetNBVPose::Response &res) 
{ 
  ROS_INFO("ZyonzNbvGeometricSimpleAlgNode::get_nbvCallback: New Request Received!"); 

  //use appropiate mutex to shared variables if necessary 
  alg_.lock(); 
  get_nbv_mutex_.enter(); 

  if(!alg_.isRunning(req.viewpoint, req.viewpoint_roi)) 
  { 
    ROS_INFO("ZyonzNbvGeometricSimpleAlgNode::get_nbvCallback: ERROR: alg is not on run mode yet."); 
  } 
  
  res.nbv = *alg_.get_nbv ();

  //unlock previously blocked shared variables 
  alg_.unlock(); 
  get_nbv_mutex_.exit(); 

  return true; 
}

/*  [action callbacks] */

/*  [action requests] */

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

  this->alg_.unlock();
}

void ZyonzNbvGeometricSimpleAlgNode::addNodeDiagnostics(void)
{
}

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