Fawkes API  Fawkes Development Version
pcl_thread.h
00001 
00002 /***************************************************************************
00003  *  pcl_thread.cpp - Thread to exchange point clouds
00004  *
00005  *  Created: Mon Nov 07 02:26:35 2011
00006  *  Copyright  2011  Tim Niemueller [www.niemueller.de]
00007  ****************************************************************************/
00008 
00009 /*  This program is free software; you can redistribute it and/or modify
00010  *  it under the terms of the GNU General Public License as published by
00011  *  the Free Software Foundation; either version 2 of the License, or
00012  *  (at your option) any later version.
00013  *
00014  *  This program is distributed in the hope that it will be useful,
00015  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00016  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00017  *  GNU Library General Public License for more details.
00018  *
00019  *  Read the full text in the LICENSE.GPL file in the doc directory.
00020  */
00021 
00022 #ifndef __PLUGINS_ROS_PCL_THREAD_H_
00023 #define __PLUGINS_ROS_PCL_THREAD_H_
00024 
00025 #include "pcl_adapter.h"
00026 
00027 #include <core/threading/thread.h>
00028 #include <aspect/blocked_timing.h>
00029 #include <aspect/clock.h>
00030 #include <aspect/configurable.h>
00031 #include <aspect/logging.h>
00032 #include <aspect/pointcloud.h>
00033 #include <plugins/ros/aspect/ros.h>
00034 #include <blackboard/interface_listener.h>
00035 #include <blackboard/interface_observer.h>
00036 #include <interfaces/TransformInterface.h>
00037 #include <core/threading/mutex.h>
00038 
00039 #include <list>
00040 #include <queue>
00041 
00042 #include <ros/node_handle.h>
00043 #include <sensor_msgs/PointCloud2.h>
00044 
00045 class RosPointCloudThread
00046 : public fawkes::Thread,
00047   public fawkes::ClockAspect,
00048   public fawkes::LoggingAspect,
00049   public fawkes::ConfigurableAspect,
00050   public fawkes::BlockedTimingAspect,
00051   public fawkes::PointCloudAspect,
00052   public fawkes::ROSAspect
00053 {
00054  public:
00055   RosPointCloudThread();
00056   virtual ~RosPointCloudThread();
00057 
00058   virtual void init();
00059   virtual void loop();
00060   virtual void finalize();
00061 
00062  /** Stub to see name in backtrace for easier debugging. @see Thread::run() */
00063  protected: virtual void run() { Thread::run(); }
00064 
00065  private:
00066   RosPointCloudAdapter *__adapter;
00067 
00068   /// @cond INTERNALS
00069   typedef struct {
00070     ros::Publisher           pub;
00071     sensor_msgs::PointCloud2 msg;
00072     fawkes::Time             last_sent;
00073   } PublisherInfo;
00074   /// @endcond
00075   std::map<std::string, PublisherInfo> __pubs;
00076 
00077 };
00078 
00079 #endif