.. _program_listing_file_include_hri_hri.hpp:

Program Listing for File hri.hpp
================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_hri_hri.hpp>` (``include/hri/hri.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright (c) 2023 PAL Robotics S.L. All rights reserved.
   //
   // 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.
   
   #ifndef HRI__HRI_HPP_
   #define HRI__HRI_HPP_
   
   #include <functional>
   #include <map>
   #include <memory>
   #include <string>
   #include <vector>
   
   #include "hri_msgs/msg/ids_list.hpp"
   #include "rclcpp/rclcpp.hpp"
   #include "tf2_ros/buffer.h"
   #include "tf2_ros/transform_listener.h"
   
   #include "hri/body.hpp"
   #include "hri/face.hpp"
   #include "hri/feature_tracker.hpp"
   #include "hri/person.hpp"
   #include "hri/types.hpp"
   #include "hri/voice.hpp"
   
   namespace hri
   {
   
   class HRIListener : public std::enable_shared_from_this<HRIListener>
   {
   public:
     [[nodiscard]] static std::shared_ptr<HRIListener> create(NodeLikeSharedPtr node_like)
     {
       return std::shared_ptr<HRIListener>(new HRIListener(node_like));
     }
   
     virtual ~HRIListener();
   
     std::map<ID, FacePtr> getFaces() const;
   
     void onFace(std::function<void(FacePtr)> callback)
     {
       face_callbacks_.push_back(callback);
     }
   
     void onFaceLost(std::function<void(ID)> callback)
     {
       face_lost_callbacks_.push_back(callback);
     }
   
   
     std::map<ID, BodyPtr> getBodies() const;
   
     void onBody(std::function<void(BodyPtr)> callback)
     {
       body_callbacks_.push_back(callback);
     }
   
     void onBodyLost(std::function<void(ID)> callback)
     {
       body_lost_callbacks_.push_back(callback);
     }
   
   
     std::map<ID, VoicePtr> getVoices() const;
   
     void onVoice(std::function<void(VoicePtr)> callback)
     {
       voice_callbacks_.push_back(callback);
     }
   
     void onVoiceLost(std::function<void(ID)> callback)
     {
       voice_lost_callbacks_.push_back(callback);
     }
   
   
     std::map<ID, PersonPtr> getPersons() const;
   
     void onPerson(std::function<void(PersonPtr)> callback)
     {
       person_callbacks_.push_back(callback);
     }
   
     void onPersonLost(std::function<void(ID)> callback)
     {
       person_lost_callbacks_.push_back(callback);
     }
   
     std::map<ID, PersonPtr> getTrackedPersons() const;
   
     void onTrackedPerson(std::function<void(PersonPtr)> callback)
     {
       person_tracked_callbacks_.push_back(callback);
     }
   
     void onTrackedPersonLost(std::function<void(ID)> callback)
     {
       person_tracked_lost_callbacks_.push_back(callback);
     }
   
     void setReferenceFrame(const std::string & frame)
     {
       reference_frame_ = frame;
     }
   
     rclcpp::CallbackGroup::SharedPtr getCallbackGroup() {return callback_group_;}
   
     void clearData()
     {
       faces_.clear();
       bodies_.clear();
       voices_.clear();
       persons_.clear();
       tracked_persons_.clear();
       tf_buffer_.clear();
     }
   
     void clearCallbacks()
     {
       face_callbacks_.clear();
       face_lost_callbacks_.clear();
       body_callbacks_.clear();
       body_lost_callbacks_.clear();
       voice_callbacks_.clear();
       voice_lost_callbacks_.clear();
       person_callbacks_.clear();
       person_lost_callbacks_.clear();
       person_tracked_callbacks_.clear();
       person_tracked_lost_callbacks_.clear();
     }
   
   protected:
     explicit HRIListener(NodeLikeSharedPtr node_like);
   
   private:
     void onTrackedFeature(FeatureType & feature, hri_msgs::msg::IdsList::ConstSharedPtr tracked);
   
     NodeInterfaces node_interfaces_;
     rclcpp::CallbackGroup::SharedPtr callback_group_;
   
     std::map<FeatureType,
       rclcpp::Subscription<hri_msgs::msg::IdsList>::SharedPtr> feature_subscribers_;
   
     std::map<ID, FacePtr> faces_;
     std::vector<std::function<void(FacePtr)>> face_callbacks_;
     std::vector<std::function<void(ID)>> face_lost_callbacks_;
   
     std::map<ID, BodyPtr> bodies_;
     std::vector<std::function<void(BodyPtr)>> body_callbacks_;
     std::vector<std::function<void(ID)>> body_lost_callbacks_;
   
     std::map<ID, VoicePtr> voices_;
     std::vector<std::function<void(VoicePtr)>> voice_callbacks_;
     std::vector<std::function<void(ID)>> voice_lost_callbacks_;
   
     std::map<ID, PersonPtr> persons_;
     std::vector<std::function<void(PersonPtr)>> person_callbacks_;
     std::vector<std::function<void(ID)>> person_lost_callbacks_;
     std::map<ID, PersonPtr> tracked_persons_;
     std::vector<std::function<void(PersonPtr)>> person_tracked_callbacks_;
     std::vector<std::function<void(ID)>> person_tracked_lost_callbacks_;
   
     std::string reference_frame_;
     tf2::BufferCore tf_buffer_;
     std::unique_ptr<tf2_ros::TransformListener> tf_listener_;
   };
   
   }  // namespace hri
   
   #endif  // HRI__HRI_HPP_