localization_nodelet.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef LOCALIZATION_NODE_LOCALIZATION_NODELET_H_
#define LOCALIZATION_NODE_LOCALIZATION_NODELET_H_
 
#include <localization_node/localization.h>
 
#include <sparse_mapping/sparse_map.h>
#include <config_reader/config_reader.h>
 
#include <ff_msgs/ResetMap.h>
#include <ff_msgs/SetBool.h>
#include <ff_util/ff_nodelet.h>
#include <nodelet/nodelet.h>
#include <image_transport/image_transport.h>
 
#include <string>
#include <thread>
 
namespace localization_node {
 
class LocalizationNodelet : public ff_util::FreeFlyerNodelet {
 public:
  LocalizationNodelet();
  virtual ~LocalizationNodelet();
 
 protected:
  virtual void Initialize(ros::NodeHandle* nh);
 
 private:
  // Wrapper function that calls ReadParams but does not take a param,
  // required for configuring with a config timer.
  void ReadParamsWrapper();
  bool ReadParams(bool fatal_failure = true);
  bool ResetMap(const std::string& map_file);
  void Run(void);
  void Localize(void);
  void ImageCallback(const sensor_msgs::ImageConstPtr& msg);
  bool EnableService(ff_msgs::SetBool::Request & req, ff_msgs::SetBool::Response & res);
  bool ResetMapService(ff_msgs::ResetMap::Request & req, ff_msgs::ResetMap::Response & res);
 
  std::shared_ptr<Localizer> inst_;
  std::shared_ptr<sparse_mapping::SparseMap> map_;
  std::shared_ptr<std::thread> thread_;
  config_reader::ConfigReader config_;
  std::string last_valid_map_file_;
  ros::Timer config_timer_;
 
  std::shared_ptr<image_transport::ImageTransport> it_;
  image_transport::Subscriber image_sub_;
  ros::ServiceServer enable_srv_, reset_map_srv_;
  ros::ServiceClient reset_map_loc_client_;
  ros::Publisher registration_publisher_, landmark_publisher_,
    detected_features_publisher_, used_features_publisher_, all_features_publisher_;
  bool enabled_;
  int count_;
 
  bool matched_features_on_, all_features_on_;
  cv_bridge::CvImageConstPtr image_ptr_;
 
  volatile bool processing_image_;
  pthread_mutex_t mutex_features_;
  pthread_cond_t cond_features_;
};
 
};  // namespace localization_node
 
#endif  // LOCALIZATION_NODE_LOCALIZATION_NODELET_H_