nav_grid_subscriber.h

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#ifndef NAV_GRID_PUB_SUB_NAV_GRID_SUBSCRIBER_H
#define NAV_GRID_PUB_SUB_NAV_GRID_SUBSCRIBER_H

#include <ros/ros.h>
#include <nav_grid/nav_grid.h>
#include <nav_core2/bounds.h>
#include <nav_2d_msgs/NavGridOfChars.h>
#include <nav_2d_msgs/NavGridOfCharsUpdate.h>
#include <nav_2d_msgs/NavGridOfDoubles.h>
#include <nav_2d_msgs/NavGridOfDoublesUpdate.h>
#include <nav_msgs/OccupancyGrid.h>
#include <map_msgs/OccupancyGridUpdate.h>
#include <nav_2d_utils/bounds.h>
#include <nav_grid_pub_sub/nav_grid_message_utils.h>
#include <nav_grid_pub_sub/occ_grid_message_utils.h>
#include <string>
#include <vector>

namespace nav_grid_pub_sub
{
template<typename NumericType, typename NavGridOfX, typename NavGridOfXUpdate>
class GenericNavGridSubscriber
{
public:
  using NewDataCallback = std::function<void(const nav_core2::UIntBounds&)>;

  explicit GenericNavGridSubscriber(nav_grid::NavGrid<NumericType>& data) : data_(data) {}
  void init(ros::NodeHandle& nh, NewDataCallback callback, const std::string& topic = "map",
            bool nav_grid = true, bool subscribe_to_updates = true)
  {
    nh_ = nh;
    callback_ = callback;
    topic_ = topic;
    nav_grid_ = nav_grid;
    subscribe_to_updates_ = subscribe_to_updates;
    activate();
  }

  void activate()
  {
    std::string resolved_topic = nh_.resolveName(topic_);
    map_received_ = false;
    if (nav_grid_)
    {
      sub_ = nh_.subscribe(resolved_topic, 1, &GenericNavGridSubscriber::incomingNav, this);
      if (subscribe_to_updates_)
      {
        update_sub_ = nh_.subscribe(resolved_topic + "_updates", 10,
                                    &GenericNavGridSubscriber::incomingNavUpdate, this);
      }
    }
    else
    {
      sub_ = nh_.subscribe(resolved_topic, 1, &GenericNavGridSubscriber::incomingOcc, this);
      if (subscribe_to_updates_)
      {
        update_sub_ = nh_.subscribe(resolved_topic + "_updates", 10,
                                    &GenericNavGridSubscriber::incomingOccUpdate, this);
      }
    }
  }

  void deactivate()
  {
    sub_.shutdown();
    update_sub_.shutdown();
  }

  bool hasData() const { return map_received_; }

  void setCostInterpretation(const std::vector<NumericType>& cost_interpretation_table)
  {
    cost_interpretation_table_ = cost_interpretation_table;
  }
protected:
  void incomingNav(const NavGridOfX& new_map)
  {
    fromMsg(new_map, data_);
    map_received_ = true;
    callback_(nav_2d_utils::getFullUIntBounds(data_.getInfo()));
  }

  void incomingNavUpdate(const NavGridOfXUpdate& update)
  {
    if (!map_received_)
    {
      return;
    }
    nav_core2::UIntBounds bounds = fromUpdate(update, data_);
    callback_(bounds);
  }

  void incomingOcc(const nav_msgs::OccupancyGridConstPtr& new_map)
  {
    if (!map_received_)
    {
      return;
    }
    fromOccupancyGrid(*new_map, data_, cost_interpretation_table_);
    map_received_ = true;
    callback_(nav_2d_utils::getFullUIntBounds(data_.getInfo()));
  }

  void incomingOccUpdate(const map_msgs::OccupancyGridUpdateConstPtr& update)
  {
    nav_core2::UIntBounds bounds = fromOccupancyGridUpdate(*update, data_, cost_interpretation_table_);
    callback_(bounds);
  }

  nav_grid::NavGrid<NumericType>& data_;
  NewDataCallback callback_;

  std::vector<NumericType> cost_interpretation_table_;

  ros::Subscriber sub_, update_sub_;
  bool map_received_;

  ros::NodeHandle nh_;
  std::string topic_;
  bool nav_grid_, subscribe_to_updates_;
};

using NavGridSubscriber =
  GenericNavGridSubscriber<unsigned char, nav_2d_msgs::NavGridOfChars, nav_2d_msgs::NavGridOfCharsUpdate>;

using NavGridOfDoublesSubscriber =
  GenericNavGridSubscriber<double, nav_2d_msgs::NavGridOfDoubles, nav_2d_msgs::NavGridOfDoublesUpdate>;

}  // namespace nav_grid_pub_sub

#endif  // NAV_GRID_PUB_SUB_NAV_GRID_SUBSCRIBER_H