From fd97474776998d2beb052589efb9f70e36b233b5 Mon Sep 17 00:00:00 2001
From: dimitris <Dimitris Sgouropoulos>
Date: Fri, 17 Jun 2016 15:48:44 +0300
Subject: [PATCH] changed decision making publish

---
 decision_making/config/parameters.yaml |  6 +++---
 decision_making/msg/Event.msg          |  3 +--
 decision_making/src/decision.cpp       | 16 ++++++++--------
 fusion/config/parameters.yaml          |  6 +++---
 4 files changed, 15 insertions(+), 16 deletions(-)

diff --git a/decision_making/config/parameters.yaml b/decision_making/config/parameters.yaml
index 9b7971f..374d03e 100644
--- a/decision_making/config/parameters.yaml
+++ b/decision_making/config/parameters.yaml
@@ -5,7 +5,7 @@ events_topic   : "/events"
 csv_fields      : "Timestamp, Rect_Id, Annotation"
 min_depth       : 0
 max_depth       : 6000
-history_size    : 20
-create_directory: true
-write_csv       : true
+history_size    : 7
+create_directory: false
+write_csv       : false
 display         : false
diff --git a/decision_making/msg/Event.msg b/decision_making/msg/Event.msg
index 072291a..7b45845 100644
--- a/decision_making/msg/Event.msg
+++ b/decision_making/msg/Event.msg
@@ -1,3 +1,2 @@
 Header header
-bool four_meter
-bool stand_up
+int32 event
diff --git a/decision_making/src/decision.cpp b/decision_making/src/decision.cpp
index 2f5a515..21bf0d4 100644
--- a/decision_making/src/decision.cpp
+++ b/decision_making/src/decision.cpp
@@ -5,9 +5,9 @@ Decision_making::Decision_making()
 {
 	 //Getting the parameters specified by the launch file 
 	ros::NodeHandle local_nh("~");
-	local_nh.param("camera_frame" 	 , camera_frame		, string("camera_link"));
+	local_nh.param("camera_frame" 	 , camera_frame	   , string("camera_link"));
 	local_nh.param("results_topic"   , results_topic   , string("results"));
-	local_nh.param("events_topic"    , events_topic   , string("events"));
+	local_nh.param("events_topic"    , events_topic    , string("events"));
 	local_nh.param("project_path"    , path_           , string(""));
 	local_nh.param("csv_fields"      , csv_fields      , string(""));
 	local_nh.param("max_depth"       , max_depth       , DEPTH_MAX);
@@ -39,8 +39,7 @@ void Decision_making::callback(const fusion::FusionMsg::ConstPtr& msg)
     decision_making::Event event_msg;
     event_msg.header.stamp = msg->header.stamp;
     event_msg.header.frame_id = camera_frame;
-    event_msg.four_meter = false;
-    event_msg.stand_up = false;
+    event_msg.event = -1;
     
     for(vector<bool>::iterator it = inserted.begin(); it < inserted.end(); it++)
         *it = false;
@@ -138,7 +137,8 @@ void Decision_making::callback(const fusion::FusionMsg::ConstPtr& msg)
                             <<i<<"\t"
                             <<"3\t"<<
                         endl;
-                        event_msg.stand_up = true;
+                        event_msg.event = 3;
+                        results_publisher.publish(event_msg);
                     }
                 }
                 standUp_time = ros::Time(0);
@@ -178,8 +178,8 @@ void Decision_making::callback(const fusion::FusionMsg::ConstPtr& msg)
                             <<i<<"\t"
                             <<"4\t"<<
                         endl;
-                        event_msg.four_meter = true;
-                        
+                        event_msg.event = 4;
+                        results_publisher.publish(event_msg);
                     }
                 }
                 else
@@ -217,7 +217,7 @@ void Decision_making::callback(const fusion::FusionMsg::ConstPtr& msg)
         }
     }
         
-    results_publisher.publish(event_msg);
+    
     
     //~ for(vector<float> dist: distances)
     //~ {
diff --git a/fusion/config/parameters.yaml b/fusion/config/parameters.yaml
index 4e3220d..8d636b9 100644
--- a/fusion/config/parameters.yaml
+++ b/fusion/config/parameters.yaml
@@ -8,6 +8,6 @@ csv_fields      : "Timestamp, Rect_id, Rect_x, Rect_y, Rect_W, Rect_H, Meter_X,
 min_depth       : 0
 max_depth       : 6000
 playback_topics : false
-create_directory: true
-write_csv       : true
-display         : false
+create_directory: false
+write_csv       : false
+display         : true