Localization2DServer.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library 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
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef YARP_DEV_LOCALIZATION2DSERVER_H
#define YARP_DEV_LOCALIZATION2DSERVER_H
 
 
#include <yarp/os/Network.h>
#include <yarp/os/RFModule.h>
#include <yarp/os/Time.h>
#include <yarp/os/Port.h>
#include <yarp/os/Stamp.h>
#include <yarp/os/Node.h>
#include <yarp/os/Publisher.h>
#include <yarp/os/BufferedPort.h>
#include <yarp/os/PeriodicThread.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/IMultipleWrapper.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ILocalization2D.h>
#include <yarp/dev/OdometryData.h>
#include <yarp/rosmsg/nav_msgs/Odometry.h>
#include <yarp/rosmsg/tf2_msgs/TFMessage.h>
#include <math.h>
 
class Localization2DServer :
        public yarp::dev::DeviceDriver,
        public yarp::os::PeriodicThread,
        public yarp::dev::IMultipleWrapper,
        public yarp::os::PortReader
{
protected:
 
    //general options
    bool m_ros_publish_odometry_on_topic;
    bool m_ros_publish_odometry_on_tf;
 
    //yarp
    std::string                               m_local_name;
    yarp::os::Port                            m_rpcPort;
    std::string                               m_rpcPortName;
    yarp::os::BufferedPort<yarp::dev::Nav2D::Map2DLocation>  m_2DLocationPort;
    std::string                               m_2DLocationPortName;
    yarp::os::BufferedPort<yarp::dev::OdometryData>  m_odometryPort;
    std::string                               m_odometryPortName;
    std::string                               m_robot_frame;
    std::string                               m_fixed_frame;
 
    //ROS
    std::string                                           m_child_frame_id;
    std::string                                           m_parent_frame_id;
    yarp::os::Node*                                       m_ros_node;
    yarp::os::Publisher<yarp::rosmsg::nav_msgs::Odometry> m_odometry_publisher;
    yarp::os::Publisher<yarp::rosmsg::tf2_msgs::TFMessage>  m_tf_publisher;
 
    //drivers and interfaces
    yarp::dev::PolyDriver                   pLoc;
    yarp::dev::Nav2D::ILocalization2D*      iLoc;
 
    double                                  m_stats_time_last;
    double                                  m_period;
    yarp::os::Stamp                         m_loc_stamp;
    yarp::os::Stamp                         m_odom_stamp;
    bool                                    m_getdata_using_periodic_thread;
 
    yarp::dev::OdometryData                     m_current_odometry;
    yarp::dev::Nav2D::Map2DLocation             m_current_position;
    yarp::dev::Nav2D::LocalizationStatusEnum    m_current_status;
 
private:
    void publish_2DLocation_on_yarp_port();
    void publish_odometry_on_yarp_port();
    void publish_odometry_on_ROS_topic();
    void publish_odometry_on_TF_topic();
 
public:
    Localization2DServer();
 
public:
    virtual bool open(yarp::os::Searchable& prop) override;
    virtual bool close() override;
    virtual bool detachAll() override;
    virtual bool attachAll(const yarp::dev::PolyDriverList &l) override;
    virtual void run() override;
 
    bool initialize_YARP(yarp::os::Searchable &config);
    bool initialize_ROS(yarp::os::Searchable& config);
    virtual bool read(yarp::os::ConnectionReader& connection) override;
};
 
#endif // YARP_DEV_LOCALIZATION2DSERVER_H