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Release 3.0.0 sick_lidar_localization phase III: ROS services SIM Kon…
…figuration Release 3.0.0 sick_lidar_localization phase III: ROS services SIM Konfiguration
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| /* | ||
| * @brief cola_configuration sets the initial SIM result output configuration | ||
| * using ros cola services. | ||
| * Configures the following result output settings from launch file: | ||
| * LocSetResultPort, LocSetResultMode, LocSetResultPoseEnabled, LocSetResultEndianness, LocSetResultPoseInterval, | ||
| * LocRequestResultData | ||
| * | ||
| * Copyright (C) 2019 Ing.-Buero Dr. Michael Lehning, Hildesheim | ||
| * Copyright (C) 2019 SICK AG, Waldkirch | ||
| * | ||
| * 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. | ||
| * | ||
| * All rights reserved. | ||
| * | ||
| * Redistribution and use in source and binary forms, with or without | ||
| * modification, are permitted provided that the following conditions are met: | ||
| * | ||
| * * Redistributions of source code must retain the above copyright | ||
| * notice, this list of conditions and the following disclaimer. | ||
| * * Redistributions in binary form must reproduce the above copyright | ||
| * notice, this list of conditions and the following disclaimer in the | ||
| * documentation and/or other materials provided with the distribution. | ||
| * * Neither the name of SICK AG nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission | ||
| * * Neither the name of Ing.-Buero Dr. Michael Lehning nor the names of its | ||
| * contributors may be used to endorse or promote products derived from | ||
| * this software without specific prior written permission | ||
| * | ||
| * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" | ||
| * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE | ||
| * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE | ||
| * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE | ||
| * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR | ||
| * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF | ||
| * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS | ||
| * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN | ||
| * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) | ||
| * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE | ||
| * POSSIBILITY OF SUCH DAMAGE. | ||
| * | ||
| * Authors: | ||
| * Michael Lehning <[email protected]> | ||
| * | ||
| * Copyright 2019 SICK AG | ||
| * Copyright 2019 Ing.-Buero Dr. Michael Lehning | ||
| * | ||
| */ | ||
| #ifndef __SIM_LOC_COLA_CONFIGURATION_H_INCLUDED | ||
| #define __SIM_LOC_COLA_CONFIGURATION_H_INCLUDED | ||
|
|
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| #include "sick_lidar_localization/cola_services.h" | ||
|
|
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| namespace sick_lidar_localization | ||
| { | ||
| /*! | ||
| * Class sick_lidar_localization::ColaConfiguration sets the initial SIM result output configuration | ||
| * using ros cola services. | ||
| * Configures the following result output settings from launch file: | ||
| * LocSetResultPort, LocSetResultMode, LocSetResultPoseEnabled, LocSetResultEndianness, LocSetResultPoseInterval, | ||
| * LocRequestResultData | ||
| */ | ||
| class ColaConfiguration | ||
| { | ||
| public: | ||
|
|
||
| /*! | ||
| * Constructor | ||
| */ | ||
| ColaConfiguration(ros::NodeHandle* nh = 0); | ||
|
|
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| /*! | ||
| * Destructor | ||
| */ | ||
| virtual ~ColaConfiguration(); | ||
|
|
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| /*! | ||
| * Starts transmitting the initial result output configuration to the localization controller. | ||
| * Configures the following result output settings from launch file: | ||
| * LocSetResultPort, LocSetResultMode, LocSetResultPoseEnabled, LocSetResultEndianness, LocSetResultPoseInterval, | ||
| * LocRequestResultData | ||
| * @return true on success, false in case of errors. | ||
| */ | ||
| virtual bool start(void); | ||
|
|
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| /*! | ||
| * Stops transmitting the initial result output configuration to the localization controller. | ||
| */ | ||
| virtual void stop(void); | ||
|
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| protected: | ||
|
|
||
| /*! | ||
| * Thread callback, transmits the initial SIM result output configuration using ros cola services. | ||
| * Configures the following result output settings from launch file: | ||
| * LocSetResultPort, LocSetResultMode, LocSetResultPoseEnabled, LocSetResultEndianness, LocSetResultPoseInterval, | ||
| * LocRequestResultData | ||
| */ | ||
| virtual void runConfigurationThreadCb(void); | ||
|
|
||
| /*! | ||
| * Calls a ros service until successfully executed or configuration thread cancelled. | ||
| * @param[in/out] service_telegram service request and response | ||
| * @param[in] service_client ros service client | ||
| * @param[in] retry_delay delay before next retry in case of errors | ||
| * @return true on success or false on failure | ||
| */ | ||
| template<typename T> bool callService(T & service_telegram, ros::ServiceClient & service_client, double retry_delay) | ||
| { | ||
| service_telegram.response.success = false; | ||
| while(ros::ok() && m_nh && m_configuration_thread_running && (!service_client.call(service_telegram) || !service_telegram.response.success)) | ||
| { | ||
| ROS_WARN_STREAM("## ERROR ColaConfiguration: service call(" << sick_lidar_localization::Utils::flattenToString(service_telegram.request) << ") failed, response: " << sick_lidar_localization::Utils::flattenToString(service_telegram.response) << ", retrying"); | ||
| ros::Duration(retry_delay).sleep(); | ||
| } | ||
| ROS_INFO_STREAM("ColaConfiguration " << typeid(T).name() << " " << (service_telegram.response.success ? "successfull" : "failed")); | ||
| return service_telegram.response.success; | ||
| } | ||
|
|
||
| /* | ||
| * member variables | ||
| */ | ||
|
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| ros::NodeHandle* m_nh; ///< ros node handle | ||
| boost::thread* m_configuration_thread; ///< thread to transmit configuration | ||
| bool m_configuration_thread_running; ///< true: m_configuration_thread is running, otherwise false | ||
|
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| }; // class ColaServices | ||
|
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| } // namespace sick_lidar_localization | ||
| #endif // __SIM_LOC_COLA_CONFIGURATION_H_INCLUDED |
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