ROSNode.h

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// ----------------------------------------------------------------------------
//
// $Id$
//
// Copyright 2008, 2009, 2010, 2011, 2012  Antonio Franchi and Paolo Stegagno    
//
// This file is part of MIP.
//
// MIP is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// MIP is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with MIP. If not, see <http://www.gnu.org/licenses/>.
//
// Contact info: antonio.franchi@tuebingen.mpg.de stegagno@diag.uniroma1.it
//
// ----------------------------------------------------------------------------



#ifndef ROS_NODE_H
#define ROS_NODE_H

// #include "includeROS.h"
// #include "std_msgs/String.h"
#include <sstream>
#include <typeinfo>
#include "resources.h"

// #include "ROSiFace.h"
#include "ROSiFace.h"

using namespace MipResources;

namespace MipResources{
 /* @{ */
 
 
 
 enum ROSiFaceMessageTypes{
  ROSIFACE_TYPE_NAV_MSGS_ODOMETRY,
  ROSIFACE_TYPE_STD_MSGS_HEADER,
  ROSIFACE_TYPE_STD_MSGS_INT32,
  ROSIFACE_TYPE_GEOMETRY_MSGS_POINT,
  ROSIFACE_TYPE_GEOMETRY_MSGS_POINTSTAMPED,
  ROSIFACE_TYPE_STD_STRING,
  ROSIFACE_TYPE_SENSOR_IMU,
  ROSIFACE_TYPE_GEOMETRY_VECTOR3STAMPED,
  ROSIFACE_TYPE_GEOMETRY_MSGS_TWIST,
  ROSIFACE_TYPE_SENSOR_LASERSCAN,
  ROSIFACE_TYPE_SENSOR_RANGE,
  ROSIFACE_TYPE_SENSOR_IMAGE,
  ROSIFACE_TYPE_SENSOR_CAMERAINFO
 };

 
 class ROSNodeOptions : public Options {
  public:
   ROSNodeOptions();
   
   string getObjectName() const {
    return "ROSNodeOptions";
   }
   
   OptionGroupsType getGroup();
 };
 
 
 
 class ROSNode : public Resource{
  protected:
   ROSNodeOptions _options;
   
  private:
   static const ResourcePlate _plate = ROS_NODE_RES;
   
  public:
   
   ResourcePlate getPlate() const {
    return _plate;
   }
   
   ROSNode(const string& nodeName);
   
   ROSNode(int argc, const char* argv[]);
   
   ~ROSNode();
   
   int openTopic(const string& topicname, ROSiFaceOpeningModes mode, int queueLength=1, int bufferLength=1, ROSiFaceMessageTypes ty=ROSIFACE_TYPE_STD_STRING);
   
   bool updateTopic(int topicSpecifier);
   
   
   bool getTopicMessage(int topicSpecifier, string &msg);
   
   bool getUpdateTopicMessage(int topicSpecifier, string &msg);
   
   bool writeTopic(int topicSpecifier, const string &msg);
   
   void getTopicMessages(int topicSpecifier, deque<string> &msg);
   
   void getUpdateTopicMessages(int topicSpecifier, deque<string> &msg);
   
   
   
   
   # include <include_std_msgs_String.h>
   
   # include <include_sensor_msgs_Imu.h>
   
   # include <include_geometry_msgs_Vector3Stamped.h>
   
   # include <include_sensor_msgs_LaserScan.h>
   
#ifdef ROS_FUERTE
   # include <include_sensor_msgs_Range.h>
#endif
   
   # include <include_sensor_msgs_Image.h>
   
   # include <include_sensor_msgs_CameraInfo.h>
   
   #include <include_geometry_msgs_Twist.h>
   #include <include_geometry_msgs_PointStamped.h>
   #include <include_geometry_msgs_Point.h>
   #include <include_std_msgs_Int32.h>
   #include <include_std_msgs_Header.h>
   #include <include_nav_msgs_Odometry.h>
   
   ros::NodeHandle* getROSNode();
   
   int getOpenTopicsNum() const;
   
  private:
   ros::NodeHandle* _node;
   vector<ROSiFaceBoss*> _openTopics;
   vector<ROSiFaceMessageTypes> _openTopicsType;
 };
 /* @} */
}
#endif // ROS_NODE_H