scene_configurator.hpp

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#pragma once

// Local Includes
#include "scene_configurator_data.hpp"
#include "../ism_helper.hpp"

// Global Includes
#include <string>
#include <boost/shared_ptr.hpp>
#include <boost/thread.hpp>

#include <termios.h>    //Keyboard Input: termios, TCSANOW, ECHO, ICANON

// Pkg Includes
#include "ros/ros.h"
#include <asr_ism_visualizations/ObjectModelVisualizerRVIZ.hpp>
#include <asr_msgs/AsrObject.h>

// ISM Inlcude
#include <ISM/common_type/Object.hpp>


class SceneConfigurator
{
    public:
        typedef boost::function<void(ISM::ObjectSetPtr)> ProcessConfigurationFunction;
        typedef boost::function<void(int)> ProcessKeyboardInputFunction;
        typedef boost::function<void(ISM::ObjectPtr)> ProcessObjectInputFunction;


        SceneConfigurator(ProcessConfigurationFunction processConfigFunc, ProcessKeyboardInputFunction processKeyboardInputFunc = ProcessKeyboardInputFunction(), ProcessObjectInputFunction processObjectInputFunc = ProcessObjectInputFunction());
        ~SceneConfigurator();

        bool getAutomaticProcessingActive();

    private:
        ros::NodeHandle nh_;

        IH::ObjectConverterPtr object_msg_converter_;
        SceneConfiguratorData* data_;
        ros::Timer automatic_processing_timer_;

        /*** Functions provided from other objects ***/
        ProcessConfigurationFunction processConfigurationFunc_;
        ProcessKeyboardInputFunction processKeyboardInputFunc_;
        ProcessObjectInputFunction processObjectInputFunc_;

        /*** States ***/
        //Whether only marked objects or marked objects and any additional object in the current view are used for scene processing.
        bool use_only_marked_objects_;
        //Whether to process the scene automatically.
        bool automatic_processing_active_;

        /*** Keyboard Input ***/
        boost::thread *keyboard_thread_;
        termios original_terminal_settings_;
        termios modified_terminal_settings_;
        bool key_pressed_;

        /*** Object Input ***/
        ros::CallbackQueue object_queue_;
        ros::Subscriber object_input_subscriber_;
        ros::AsyncSpinner *spinner_;
        ros::NodeHandlePtr ptu_;

        /*** Visualization ***/
        ros::Publisher visualization_publisher_;
        VIZ::ObjectModelVisualizerRVIZ* object_model_visualizer_;
        ros::Timer visualization_timer_;



        void keyboardInputMain(const unsigned int poll_rate);
        void processKeyboardInput();


        void objectInputCallback(const asr_msgs::AsrObject& object);

        bool isCameraInMotion();

        void processConfiguration();
        
        void automaticProcessingCallback(const ros::TimerEvent& e);

        /* Print Information on CLI */
        void printEstimations();
        void printHelpText();
        void printStatus();

        void updateVisualizationCallback(const ros::TimerEvent& e);

        void getNodeParameters(std::string& object_topic, int& queue_size, int& object_input_thread_count, std::string& base_frame, bool& ignore_types, bool& ignore_ids, bool& use_confidence_from_msg,
                               int& enable_rotation_mode, std::string& rotation_frame, std::string& rotation_object_type, std::string& rotation_object_id,
                               bool& enable_neighborhood_evaluation, double& neighbour_angle_threshold, double& neighbour_distance_threshold,
                               int& keyboard_poll_rate, double& automatic_processing_interval, std::string& visualization_topic);
};