Fawkes API  Fawkes Development Version
pcl_db_roscomm_thread.h
1 
2 /***************************************************************************
3  * pcl_db_roscomm_thread.h - ROS communication for pcl-db-merge
4  *
5  * Created: Thu Dec 06 13:52:27 2012
6  * Copyright 2012-2013 Tim Niemueller [www.niemueller.de]
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _PLUGINS_PERCEPTION_PCL_DB_ROS_PCL_DB_ROSCOMM_THREAD_H_
23 #define _PLUGINS_PERCEPTION_PCL_DB_ROS_PCL_DB_ROSCOMM_THREAD_H_
24 
25 #include <aspect/blackboard.h>
26 #include <aspect/blocked_timing.h>
27 #include <aspect/configurable.h>
28 #include <aspect/logging.h>
29 #include <aspect/pointcloud.h>
30 #include <core/threading/thread.h>
31 #include <fawkes_msgs/MergePointClouds.h>
32 #include <fawkes_msgs/RecordData.h>
33 #include <fawkes_msgs/RetrievePointCloud.h>
34 #include <fawkes_msgs/StorePointCloud.h>
35 #include <plugins/ros/aspect/ros.h>
36 
37 namespace fawkes {
38 class PclDatabaseMergeInterface;
39 class PclDatabaseRetrieveInterface;
40 class PclDatabaseStoreInterface;
41 class BlackBoardOnUpdateWaker;
42 class WaitCondition;
43 } // namespace fawkes
44 namespace ros {
45 class ServiceServer;
46 }
47 
49  public fawkes::LoggingAspect,
53  public fawkes::ROSAspect,
55 {
56 public:
59 
60  virtual void init();
61  virtual void loop();
62  virtual void finalize();
63 
64 private:
65  bool merge_cb(fawkes_msgs::MergePointClouds::Request & req,
66  fawkes_msgs::MergePointClouds::Response &resp);
67  bool retrieve_cb(fawkes_msgs::RetrievePointCloud::Request & req,
68  fawkes_msgs::RetrievePointCloud::Response &resp);
69  bool store_cb(fawkes_msgs::StorePointCloud::Request & req,
70  fawkes_msgs::StorePointCloud::Response &resp);
71  bool record_cb(fawkes_msgs::RecordData::Request &req, fawkes_msgs::RecordData::Response &resp);
72 
73  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
74 protected:
75  virtual void
76  run()
77  {
78  Thread::run();
79  }
80 
81 private: // members
82  fawkes::PclDatabaseMergeInterface * merge_if_;
83  fawkes::PclDatabaseRetrieveInterface *retrieve_if_;
84  fawkes::PclDatabaseStoreInterface * store_if_;
85 
86  fawkes::BlackBoardOnUpdateWaker *merge_update_waker_;
87  fawkes::WaitCondition * merge_waitcond_;
88 
89  fawkes::BlackBoardOnUpdateWaker *retrieve_update_waker_;
90  fawkes::WaitCondition * retrieve_waitcond_;
91 
92  fawkes::BlackBoardOnUpdateWaker *store_update_waker_;
93  fawkes::WaitCondition * store_waitcond_;
94 
95  ros::ServiceServer *srv_merge_;
96  ros::ServiceServer *srv_retrieve_;
97  ros::ServiceServer *srv_store_;
98  ros::ServiceServer *srv_record_;
99 
100  unsigned int merge_msg_id_;
101  unsigned int retrieve_msg_id_;
102  unsigned int store_msg_id_;
103 
104  std::string cfg_store_pcl_id_;
105 };
106 
107 #endif
Thread to merge point clouds from database on request.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
virtual void run()
Stub to see name in backtrace for easier debugging.
virtual ~PointCloudDBROSCommThread()
Destructor.
virtual void finalize()
Finalize the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Wake threads when a blackboard interface is updated.
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to provide and access point clouds.
Definition: pointcloud.h:38
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
Thread class encapsulation of pthreads.
Definition: thread.h:46
Wait until a given condition holds.
Fawkes library namespace.