darwin_autocharge_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg 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 3 of the License, or
// at your option) any later version.
//
// This program 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 program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _darwin_autocharge_alg_node_h_
#define _darwin_autocharge_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "darwin_autocharge_alg.h"
#include "eventserver.h"
#include <iostream>
#include "stdlib.h"
#include "math.h"
#include <tf/transform_listener.h>

// [publisher subscriber headers]
#include <std_msgs/Int32.h>
#include <geometry_msgs/Twist.h>
#include <sensor_msgs/JointState.h>
#include <std_msgs/Float64MultiArray.h>
#include <ar_pose/ARMarkers.h>
#include <geometry_msgs/PoseStamped.h>

// [service client headers]
#include <kinematics_msgs/GetPositionIK.h>

// [action server client headers]
#include <arm_navigation_msgs/MoveArmAction.h>
#include <iri_darwin_robot/tracking_headAction.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <control_msgs/FollowJointTrajectoryAction.h>

typedef enum {searching=0,searching2,rotate,new_goal,tracking,walking,initial_pose,search_left_marker,search_left_marker2,search_right_marker,search_right_marker2,move_back,transform_left_pose,transform_right_pose,make_decision,make_decision2,open_gripper,open_gripper2,take_connectors,take_connectors2,close_gripper,correct_position,tracking_left,tracking_left2,tracking_right,tracking_right2,go_forward,go_back,turn_right,turn_left,go_right,go_left} TStates;

class DarwinAutochargeAlgNode : public algorithm_base::IriBaseAlgorithm<DarwinAutochargeAlgorithm>
{
  private:
    // [publisher attributes]   
    ros::Publisher execute_action_publisher_;
    std_msgs::Int32 Int32_msg_;
    ros::Publisher cmd_vel_publisher_;
    geometry_msgs::Twist Twist_msg_;
    ros::Publisher head_target_publisher_;
    std_msgs::Float64MultiArray Float64MultiArray_msg_;

    // [subscriber attributes]
    ros::Subscriber adc_channels_subscriber_;
    void adc_channels_callback(const std_msgs::Float64MultiArray::ConstPtr& msg);
    CMutex adc_channels_mutex_;
    double current_voltage;
    ros::Subscriber joint_states_subscriber_;
    void joint_states_callback(const sensor_msgs::JointState::ConstPtr& msg);
    CMutex joint_states_mutex_;
    sensor_msgs::JointState current_state;
    ros::Subscriber marker_subscriber_;
    void marker_callback(const ar_pose::ARMarkers::ConstPtr& msg);
    CMutex marker_mutex_;
    ar_pose::ARMarkers msg_;
    geometry_msgs::PoseStamped marker_;
    geometry_msgs::PoseStamped conv_msg_;
    geometry_msgs::PoseStamped right_pose_;
    geometry_msgs::PoseStamped left_pose_;
    bool marker_found;
    bool marker_really_founded;
    // [service attributes]

    // [client attributes]
    ros::ServiceClient get_ik_client_;
    kinematics_msgs::GetPositionIK get_ik_srv_;

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_left_arm_client_;
    arm_navigation_msgs::MoveArmGoal move_left_arm_goal_;
    void move_left_armMakeActionRequest();
    void move_left_armDone(const actionlib::SimpleClientGoalState& state,  const arm_navigation_msgs::MoveArmResultConstPtr& result);
    void move_left_armActive();
    void move_left_armFeedback(const arm_navigation_msgs::MoveArmFeedbackConstPtr& feedback);
    bool left_arm_moving;

    actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_right_arm_client_;
    arm_navigation_msgs::MoveArmGoal move_right_arm_goal_;
    void move_right_armMakeActionRequest();
    void move_right_armDone(const actionlib::SimpleClientGoalState& state,  const arm_navigation_msgs::MoveArmResultConstPtr& result);
    void move_right_armActive();
    void move_right_armFeedback(const arm_navigation_msgs::MoveArmFeedbackConstPtr& feedback);
    bool right_arm_moving;

    actionlib::SimpleActionClient<iri_darwin_robot::tracking_headAction> tracking_head_client_;
    iri_darwin_robot::tracking_headGoal tracking_head_goal_;
    void tracking_headMakeActionRequest();
    void tracking_headDone(const actionlib::SimpleClientGoalState& state,  const iri_darwin_robot::tracking_headResultConstPtr& result);
    void tracking_headActive();
    void tracking_headFeedback(const iri_darwin_robot::tracking_headFeedbackConstPtr& feedback);
    bool head_is_tracking;

    actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> move_joints_client_;
    control_msgs::FollowJointTrajectoryGoal move_joints_goal_;
    void move_jointsMakeActionRequest();
    void move_jointsDone(const actionlib::SimpleClientGoalState& state,  const control_msgs::FollowJointTrajectoryResultConstPtr& result);
    void move_jointsActive();
    void move_jointsFeedback(const control_msgs::FollowJointTrajectoryFeedbackConstPtr& feedback);
    bool joints_moving;

    tf::TransformListener tf_listener;
    int n,k,m,p;
    double current_pan,current_tilt;
    bool ready;    
    bool close_to_station;
    bool left_marker_found;
    bool right_marker_found;
    bool right_data_ready;
    bool left_data_ready;
    bool left_done;
    bool ready_for_check;
    bool left_ok;
    bool right_ok;
    bool prev_left_ok;
    bool prev_right_ok;
    bool left_ready_tf;
    bool right_ready_tf;   
    bool first_goal;
    bool success;   

    TStates state;

  public:
    DarwinAutochargeAlgNode(void);

    ~DarwinAutochargeAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif