follow_pedestrian.cpp

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#ifndef _FOLLOW_PEDESTRIAN_CPP_
#define _FOLLOW_PEDESTRIAN_CPP_

#include "follow_pedestrian.h"


void foveationcontrol_sweeping(void)
{
        static ros::Time tic=ros::Time::now();
        //      static int state=0;
        double x,y,z;
        pcl::PointXYZ pt;       

        if((ros::Time::now()-tic).toSec()>4.)
        {
                tic=ros::Time::now();

                x = (((double)rand())/(double)RAND_MAX);
                pt.x = x*10+15;

                y = (((double)rand())/(double)RAND_MAX);
                pt.y = y*20-10;

                z = (((double)rand())/(double)RAND_MAX);
                pt.z = z*2;

                pcl::PointCloud<pcl::PointXYZ> pc;
                pc.points.push_back(pt);
                sensor_msgs::PointCloud2 pcmsg_out;
                pcl::toROSMsg(pc, pcmsg_out);
                pcmsg_out.header.stamp = ros::Time::now();
                pcmsg_out.header.frame_id = "/atc/vehicle/rear_axis";
                p_pub_fctlr->publish(pcmsg_out);

        }
}

bool is_safe_using_lasers(void)
{
        static ros::Time tic = ros::Time::now();


        if(!FLAG_LASER_SAFE_TO_DRIVE)
                tic = ros::Time::now();

        if((ros::Time::now() - tic).toSec() > 5.5)
        {
                return 1;
        }
        else
        {
                return 0;
        }
}

void sleepok(int t, ros::NodeHandle &nh)
{
        if (nh.ok()) sleep(t);
}

void play_sound(int sit, int mandatory, double num_h)
{
        //always 0 - 5 hipothesys
        unsigned int b_h;       

        if (mandatory<0)
        {
                status.tic_last_sound=ros::Time::now();

        }else if ((ros::Time::now()-status.tic_last_sound).toSec() >mandatory)
        {
                status.tic_last_sound=ros::Time::now();
        }
        else
        {
                return;
        }

        b_h = round((double)(a_h*(double)num_h));
        char text[1024];
        sprintf(text,"sit%d_hip%d",sit,b_h);


        std::string path= ros::package::getPath("atlas_sound_player")+ "/Recordings/GoogleLady_ros/" + text + ".wav";
        p_sc->playWave(path);
        sleepok(0.1, *p_n);

        printf("playing sound %s\n",text);
        //sleep(3);

}



void print_status(t_status* status)                                                                    
{
        printf("*****************************\n");
        switch(status->state)
        {   
                case SEARCHING:
                        printf("** Searching for new target\n");
                        break;

                case TRACKING:
                        printf("** Tracking target %d\n",status->target_id);
                        break;

                case TARGET_LOST:
                        printf("** Target lost\n");
                        break;

                case INITIALISE:
                        printf("** Initialising\n");
                        break;
                case TRACKING_NOT_SAFE:
                        printf("** Tracking_not_safe\n");
                        break;
        }   
}


bool check_safety_zone(t_targets* targets, t_safety_zone* safety_zone)                                
{
        double x,y;
        for(size_t i=0; i<targets->position.points.size(); ++i)
        {
                x=targets->position[i].x;
                y=targets->position[i].y;

                if(x<safety_zone->xmax && x>safety_zone->xmin && y<safety_zone->ymax && y>safety_zone->ymin)
                        return false;
        }

        return true;
}


void mtt_targets_cb (const mtt::TargetListPC& targetlist)
{
        pcl::PointCloud<pcl::PointXYZ> pc_local;
    
    pcl::PCLPointCloud2 pcl_pc;
    pcl_conversions::toPCL(targetlist.position, pcl_pc);
    pcl::fromPCLPointCloud2(pcl_pc, pc_local);
    
//     pcl::fromROSMsg(targetlist.position, pc_local);

        pcl::PointCloud<pcl::PointXYZ> v_local;
    
    pcl_conversions::toPCL(targetlist.velocity, pcl_pc);
    pcl::fromPCLPointCloud2(pcl_pc, v_local);
    
//      pcl::fromROSMsg(targetlist.velocity, v_local);


        tf::StampedTransform transform;
        try
        {
                p_listener->lookupTransform(targetlist.header.frame_id, "/atc/vehicle/rear_axis" , ros::Time(0), transform);
        }
        catch (tf::TransformException ex)
        {
                ROS_ERROR("Could find valid transform after waiting 3 secs\n.%s",ex.what());
        }


        // Transform pc1 to pc2 ->transform
        pcl_ros::transformPointCloud(pc_local, targets.position, transform.inverse());
        targets.position.header.frame_id = "/atc/vehicle/rear_axis";

        pcl_ros::transformPointCloud(v_local, targets.velocity, transform.inverse());
        targets.position.header.frame_id = "/atc/vehicle/rear_axis";

        targets.id.erase(targets.id.begin(), targets.id.end());
        for (size_t i=0; i<targetlist.id.size(); ++i)
        {
                targets.id.push_back(targetlist.id[i]);
        }


        //check safety zone
        FLAG_LASER_SAFE_TO_DRIVE = check_safety_zone(&targets, &safety_zone);

#if _USE_DEBUG_
        //ROS_INFO("Received mtt_targets id size=%ld pc size = %ld", targets.id.size(), pc.points.size());
#endif

}


bool search_for_new_target(t_targets* targets, t_status* status, t_search_area* area)
{
        double d;

        for(size_t i=0; i<targets->id.size(); ++i)
        {
                d=sqrt( (targets->position[i].x - area->x)*(targets->position[i].x - area->x)+
                                (targets->position[i].y - area->y)*(targets->position[i].y - area->y));

                if(d > area->radius)
                        continue;


                ROS_INFO("Search area x=%f y=%f rad=%f \nFound target %d x=%f y=%f inside search zone %f",area->x, area->y, area->radius, targets->id[i],targets->position[i].x, targets->position[i].y, d);
                status->target_id = targets->id[i];
                status->current_x = targets->position[i].x;
                status->current_y = targets->position[i].y;
                status->current_z = targets->position[i].z;

                return true;
        }

        return false;
}

bool get_new_target_information(t_targets *targets, t_status* status)
{
        for(size_t i=0; i<targets->id.size(); ++i)
        {
                if(status->target_id!= targets->id[i])
                        continue;

                status->target_id = targets->id[i];
                status->current_x = targets->position[i].x;
                status->current_y = targets->position[i].y;
                status->current_z = targets->position[i].z;

                status->current_q = tf::createQuaternionMsgFromYaw(atan2(targets->velocity[i].y, targets->velocity[i].x)); 

                return true;
        }

        return false;
}

void init_search_area(t_search_area* area)
{
        //Set the search area
        area->x = _SEARCH_X_;   
        area->y = _SEARCH_Y_;   
        area->radius = _SEARCH_RADIUS_;
}

void foveationcontrol(t_status* status)
{
        pcl::PointCloud<pcl::PointXYZ> pc;
        pcl::PointXYZ pt;       
        pt.x = status->current_x; pt.y = status->current_y;     pt.z = 0.8;
        pc.points.push_back(pt);
        sensor_msgs::PointCloud2 pcmsg_out;
        pcl::toROSMsg(pc, pcmsg_out);
        pcmsg_out.header.stamp = ros::Time::now();
        pcmsg_out.header.frame_id = "/atc/vehicle/rear_axis";
        p_pub_fctlr->publish(pcmsg_out);
}

void foveationcontrol_home(void)
{
        pcl::PointCloud<pcl::PointXYZ> pc;
        pcl::PointXYZ pt;       
        pt.x = 10; pt.y = 0;    pt.z = 5;
        pc.points.push_back(pt);
        sensor_msgs::PointCloud2 pcmsg_out;
        pcl::toROSMsg(pc, pcmsg_out);
        pcmsg_out.header.stamp = ros::Time::now();
        pcmsg_out.header.frame_id = "/atc/vehicle/rear_axis";
        p_pub_fctlr->publish(pcmsg_out);
}


// void set_high_command_msg_direction_speed(atlascar_base::AtlascarCommand& msg, double dir, double speed)
// {
//      msg.steering_wheel = dir;
//      msg.speed = speed;
// }

// void set_high_command_msg_lights(atlascar_base::AtlascarCommand& msg, bool high, bool medium, bool left, bool right, bool warning)
// {
//      msg.lights_high = high;
//      msg.lights_medium = medium;
//      msg.lights_left = left;
//      msg.lights_right = right;
//      msg.lights_warning = warning;
// }

int main(int argc, char **argv)
{

        ros::init(argc, argv, "planar_pc_generator_node");
        ros::NodeHandle n("~");
        tf::TransformListener listener(n,ros::Duration(10));
        p_listener=&listener;
        p_n=&n;

        //create a sound_play client
        sound_play::SoundClient sc;
        p_sc = &sc;

        //create the fctlr publisher
        ros::Publisher pub_fctlr = n.advertise<sensor_msgs::PointCloud2>("/target", 1);
        p_pub_fctlr = &pub_fctlr;

        //ros::Publisher pedestrian_marker_pub = n.advertise<visualization_msgs::Marker>("/pedestrian_marker", 1);

        //set the search area
        init_search_area(&search_area);

        //set the safety zone
        safety_zone.xmax = _SAFE_ZONE_X_MAX_;
        safety_zone.xmin = _SAFE_ZONE_X_MIN_;
        safety_zone.ymax = _SAFE_ZONE_Y_MAX_;
        safety_zone.ymin = _SAFE_ZONE_Y_MIN_;

        //declare the subscribers
        ros::Subscriber sub_targets = n.subscribe("/mtt/targets", 1, mtt_targets_cb);

    ROS_ERROR("AtlascarCommand no longer avaliable, please correct");
        //declare the publishers
        ros::Publisher vis_pub = n.advertise<visualization_msgs::MarkerArray>( "/follow_pedestrian_markers", 0 );
//      command_pub = n.advertise<atlascar_base::AtlascarCommand>("/atc/base/command", 10);

//      command_msg.direct_control=0;
//      command_msg.ignition=1;
//      command_msg.lifetime=2;
//      command_msg.priority=1;
//      command_msg.auto_direction=1;
//      command_msg.auto_ignition=1;
//      command_msg.auto_throttle=1;
//      command_msg.auto_brake=1;
//      command_msg.auto_clutch=1;

        //STATUS msgs
        status.state=INITIALISE;
        status.tic_last_sound = ros::Time::now();

        //wait a bit before starting
        ros::Rate initial_sleep(0.2);
        initial_sleep.sleep();

        ros::Rate loop_rate(10);
        while (n.ok())
        {
                ros::spinOnce();

                //Run the state machine
                state_machine();

                //   ___________________________________
                //   |                                 |
                //   |        DRAW_IN_RVIZ             |
                //   |_________________________________| 
                visualization_msgs::MarkerArray marker_msg;
                add_to_viz_markers_vec(&marker_msg.markers);
                vis_pub.publish(marker_msg);


                loop_rate.sleep();      
        }
}
#endif