darwin_icra12_alg_node.cpp

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#include "darwin_icra12_alg_node.h"

DarwinIcra12AlgNode::DarwinIcra12AlgNode(void) :
  algorithm_base::IriBaseAlgorithm<DarwinIcra12Algorithm>(),
  move_right_arm_client_("move_right_arm", true),
  move_joints_client_("move_joints", true),
  move_base_client_("move_base", true),
  move_left_arm_client_("move_left_arm", true),
  tf_listener(ros::Duration(10.0))
{
  //init class attributes if necessary
  this->loop_rate_ = 1;//in [Hz]

  // [init publishers]
  
  // [init subscribers]
  this->object_pose_subscriber_ = this->public_node_handle_.subscribe("object_pose", 10, &DarwinIcra12AlgNode::object_pose_callback, this);
  
  // [init services]
  
  // [init clients]
  
  // [init action servers]
  
  // [init action clients]
  sleep(10);
  this->arm_moving=false;
  this->base_moving=false;
  this->joints_moving=false;
  this->new_object_pose=false;

  this->state=detect_object;
}

DarwinIcra12AlgNode::~DarwinIcra12AlgNode(void)
{
  // [free dynamic memory]
}

void DarwinIcra12AlgNode::mainNodeThread(void)
{
  double distance,angle;
  int i=0;
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
  
  ROS_INFO("Thread");
  // [fill action structure and make request to the action server]
//  move_right_armMakeActionRequest();
  // [publish messages]

  this->object_pose_mutex_.enter();
  try{
  switch(this->state)
  {
    case detect_object: if(this->new_object_pose)
                        {
                          this->new_object_pose=false;
                          this->state=make_decision;
                        }
                        else
                          this->state=detect_object;
                        ROS_INFO("Current state: detect_object");
                        break;
    case make_decision: // compute the distance to the object  
                        distance=sqrt(this->object_pose.pose.position.x*this->object_pose.pose.position.x+
                                      this->object_pose.pose.position.y*this->object_pose.pose.position.y);
                        angle=atan2(this->object_pose.pose.position.y,this->object_pose.pose.position.x);
                        if(0)//distance>0.150)
                        {
                          this->state=move_robot;
                          distance-=0.05;
                          // create the robot goal
                          this->move_base_goal_.target_pose.header=this->object_pose.header;
                          this->move_base_goal_.target_pose.pose.position.x=distance*cos(angle);
                          this->move_base_goal_.target_pose.pose.position.y=distance*sin(angle);
                          this->move_base_goal_.target_pose.pose.position.z=0.0;
                          this->move_base_goal_.target_pose.pose.orientation=tf::createQuaternionMsgFromYaw(angle);
                          // start the robot motion
                          move_baseMakeActionRequest();
                        }
                        else
                        {
                          this->move_joints_goal_.trajectory.header.seq=0;
                          this->move_joints_goal_.trajectory.header.stamp=ros::Time::now();
                          this->move_joints_goal_.trajectory.header.frame_id="MP_BODY";
                          this->move_joints_goal_.trajectory.joint_names.resize(2);
                          this->move_joints_goal_.trajectory.joint_names[0]="j_gripper_l";
                          this->move_joints_goal_.trajectory.joint_names[1]="j_gripper_r";
                          this->move_joints_goal_.trajectory.points.resize(1);
                          this->move_joints_goal_.trajectory.points[0].positions.resize(2);
                          this->move_joints_goal_.trajectory.points[0].velocities.resize(2);
                          this->move_joints_goal_.trajectory.points[0].accelerations.resize(2);
                          this->move_joints_goal_.trajectory.points[0].positions[0]=-30;
                          this->move_joints_goal_.trajectory.points[0].positions[1]=30;
                          for(i=0;i<2;i++)
                          {
                            this->move_joints_goal_.trajectory.points[0].velocities[i]=60.0;
                            this->move_joints_goal_.trajectory.points[0].accelerations[i]=100.0;
                          }
                          this->move_joints_goal_.trajectory.points[0].time_from_start=ros::Duration(1.0);
                          move_jointsMakeActionRequest();
                          this->state=open_gripper;
                        }
                        ROS_INFO("Current state: make_decision");
                        break;
    case move_robot: if(this->base_moving)
                       this->state=move_robot;
                     else
                     {
                       this->move_joints_goal_.trajectory.header.seq=0;
                       this->move_joints_goal_.trajectory.header.stamp=ros::Time::now();
                       this->move_joints_goal_.trajectory.header.frame_id="MP_BODY";
                       this->move_joints_goal_.trajectory.joint_names.resize(2);
                       this->move_joints_goal_.trajectory.joint_names[0]="j_gripper_l";
                       this->move_joints_goal_.trajectory.joint_names[1]="j_gripper_r";
                       this->move_joints_goal_.trajectory.points.resize(1);
                       this->move_joints_goal_.trajectory.points[0].positions.resize(2);
                       this->move_joints_goal_.trajectory.points[0].velocities.resize(2);
                       this->move_joints_goal_.trajectory.points[0].accelerations.resize(2);
                       this->move_joints_goal_.trajectory.points[0].positions[0]=-30;
                       this->move_joints_goal_.trajectory.points[0].positions[1]=30;
                       for(i=0;i<2;i++)
                       {
                         this->move_joints_goal_.trajectory.points[0].velocities[i]=60.0;
                         this->move_joints_goal_.trajectory.points[0].accelerations[i]=100.0;
                       }
                       this->move_joints_goal_.trajectory.points[0].time_from_start=ros::Duration(1.0);
                       move_jointsMakeActionRequest();
                       this->state=open_gripper;
                     }
                     ROS_INFO("Current state: move_robot");
                     break;
    case move_arms: if(this->arm_moving)
                      this->state=move_arms;
                    else
                    {
                      this->move_joints_goal_.trajectory.header.seq=0;
                      this->move_joints_goal_.trajectory.header.stamp=ros::Time::now();
                      this->move_joints_goal_.trajectory.header.frame_id="MP_BODY";
                      this->move_joints_goal_.trajectory.joint_names.resize(2);
                      this->move_joints_goal_.trajectory.joint_names[0]="j_gripper_l";
                      this->move_joints_goal_.trajectory.joint_names[1]="j_gripper_r";
                      this->move_joints_goal_.trajectory.points.resize(1);
                      this->move_joints_goal_.trajectory.points[0].positions.resize(2);
                      this->move_joints_goal_.trajectory.points[0].velocities.resize(2);
                      this->move_joints_goal_.trajectory.points[0].accelerations.resize(2);
                      this->move_joints_goal_.trajectory.points[0].positions[0]=30;
                      this->move_joints_goal_.trajectory.points[0].positions[1]=-30;
                      for(i=0;i<2;i++)
                      {
                        this->move_joints_goal_.trajectory.points[0].velocities[i]=60.0;
                        this->move_joints_goal_.trajectory.points[0].accelerations[i]=100.0;
                      }
                      this->move_joints_goal_.trajectory.points[0].time_from_start=ros::Duration(1.0);
                      move_jointsMakeActionRequest();
                      this->state=close_gripper;
                    }
                    ROS_INFO("Current state: move_arms");
                    break;
    case open_gripper: if(this->joints_moving)
                         this->state=open_gripper;
                       else
                       {
                         if(this->new_object_pose)
                         {
                           ROS_INFO("Creating goal ... ");
                           if(this->object_pose.pose.position.y>0)
                           {
                             this->move_left_arm_goal_.motion_plan_request.goal_constraints.position_constraints.resize(1);
                             this->move_left_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].header.seq=0;
                             this->move_left_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].header.stamp=ros::Time::now();
                             this->move_left_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id="MP_BODY";
                             this->move_left_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].position.x=this->object_pose.pose.position.x;
                             this->move_left_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].position.y=this->object_pose.pose.position.y;
                             this->move_left_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].position.z=this->object_pose.pose.position.z;   
                             move_left_armMakeActionRequest();
                           }
                           else
                           {
                             this->move_right_arm_goal_.motion_plan_request.goal_constraints.position_constraints.resize(1);
                             this->move_right_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].header.seq=0;
                             this->move_right_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].header.stamp=ros::Time::now();
                             this->move_right_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].header.frame_id="MP_BODY";
                             this->move_right_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].position.x=this->object_pose.pose.position.x;
                             this->move_right_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].position.y=this->object_pose.pose.position.y;
                             this->move_right_arm_goal_.motion_plan_request.goal_constraints.position_constraints[0].position.z=this->object_pose.pose.position.z;   
                             move_right_armMakeActionRequest();
                           }
                           this->state=move_arms;
                           this->new_object_pose=false;
                         }
                         else
                         {
                           ROS_INFO("waiting new goal ... ");
                           this->state=open_gripper;
                         }
                       } 
                       ROS_INFO("Current state: open_gripper");
                       break;
    case close_gripper: if(this->joints_moving)
                          this->state=close_gripper;
                        else
                        {
                          this->state=detect_object;
                        }
                        ROS_INFO("Current state: close_gripper");
                        break;
    case cancel_motion: this->state=cancel_motion;
                        ROS_INFO("Current state: cancel_motion");
                        break;
  }
  }catch(...){
    ROS_INFO("exception!!!!!!!!!!!!!!!!!!!!!1");
  }
  this->object_pose_mutex_.exit();
}

/*  [subscriber callbacks] */
void DarwinIcra12AlgNode::object_pose_callback(const geometry_msgs::PoseStamped::ConstPtr& msg) 
{ 
  bool tf_exists;

  ROS_INFO("DarwinIcra12AlgNode::object_pose_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  //this->alg_.lock(); 
  this->object_pose_mutex_.enter(); 

  //std::cout << msg->data << std::endl; 
  try{
    std::cout << msg->pose.position.x << "," << msg->pose.position.y << "," << msg->pose.position.z << std::endl;
    // transform the object pose to the MP_BODY frame
    tf_exists = tf_listener.waitForTransform(msg->header.frame_id,std::string("/MP_BODY"),msg->header.stamp,
                                             ros::Duration(10),ros::Duration(0.01));
    tf_listener.transformPose(std::string("/MP_BODY"),(*msg),this->object_pose);
    std::cout << this->object_pose.pose.position.x << "," << this->object_pose.pose.position.y << "," << this->object_pose.pose.position.z << std::endl;
    this->object_pose=(*msg);
    this->new_object_pose=true;
  }catch(tf::TransformException ex){
    ROS_ERROR("NoCollisionAlgNode:: %s",ex.what());
    this->new_object_pose=false;
  }catch(...){
    ROS_INFO("exception!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!11");
  }

  //unlock previously blocked shared variables 
  //this->alg_.unlock(); 
  this->object_pose_mutex_.exit(); 
}

/*  [service callbacks] */

/*  [action callbacks] */
void DarwinIcra12AlgNode::move_right_armDone(const actionlib::SimpleClientGoalState& state,  const arm_navigation_msgs::MoveArmResultConstPtr& result) 
{ 
  if( state.toString().compare("SUCCEEDED") == 0 ) 
    ROS_INFO("DarwinIcra12AlgNode::move_right_armDone: Goal Achieved!"); 
  else 
    ROS_INFO("DarwinIcra12AlgNode::move_right_armDone: %s", state.toString().c_str()); 

  //copy & work with requested result 
  this->arm_moving=false;
} 

void DarwinIcra12AlgNode::move_right_armActive() 
{ 
  //ROS_INFO("DarwinIcra12AlgNode::move_right_armActive: Goal just went active!"); 
} 

void DarwinIcra12AlgNode::move_right_armFeedback(const arm_navigation_msgs::MoveArmFeedbackConstPtr& feedback) 
{ 
  //ROS_INFO("DarwinIcra12AlgNode::move_right_armFeedback: Got Feedback!"); 

  bool feedback_is_ok = true; 

  //analyze feedback 
  //my_var = feedback->var; 

  //if feedback is not what expected, cancel requested goal 
  if( !feedback_is_ok ) 
  { 
    move_right_arm_client_.cancelGoal(); 
    //ROS_INFO("DarwinIcra12AlgNode::move_right_armFeedback: Cancelling Action!"); 
  } 
}
void DarwinIcra12AlgNode::move_jointsDone(const actionlib::SimpleClientGoalState& state,  const control_msgs::FollowJointTrajectoryResultConstPtr& result) 
{ 
  if( state.toString().compare("SUCCEEDED") == 0 ) 
    ROS_INFO("DarwinIcra12AlgNode::move_jointsDone: Goal Achieved!"); 
  else 
    ROS_INFO("DarwinIcra12AlgNode::move_jointsDone: %s", state.toString().c_str()); 
  
  //copy & work with requested result 
  this->joints_moving=false;
} 

void DarwinIcra12AlgNode::move_jointsActive() 
{ 
  ROS_INFO("DarwinIcra12AlgNode::move_jointsActive: Goal just went active!"); 
} 

void DarwinIcra12AlgNode::move_jointsFeedback(const control_msgs::FollowJointTrajectoryFeedbackConstPtr& feedback) 
{ 
  ROS_INFO("DarwinIcra12AlgNode::move_jointsFeedback: Got Feedback!"); 

  bool feedback_is_ok = true; 

  //analyze feedback 
  //my_var = feedback->var; 

  //if feedback is not what expected, cancel requested goal 
  if( !feedback_is_ok ) 
  { 
    move_joints_client_.cancelGoal(); 
    //ROS_INFO("DarwinIcra12AlgNode::move_jointsFeedback: Cancelling Action!"); 
  } 
}

void DarwinIcra12AlgNode::move_baseDone(const actionlib::SimpleClientGoalState& state,  const move_base_msgs::MoveBaseResultConstPtr& result) 
{ 
  if( state.toString().compare("SUCCEEDED") == 0 ) 
    ROS_INFO("DarwinIcra12AlgNode::move_baseDone: Goal Achieved!"); 
  else 
    ROS_INFO("DarwinIcra12AlgNode::move_baseDone: %s", state.toString().c_str()); 

  //copy & work with requested result 
  this->base_moving=false;
} 

void DarwinIcra12AlgNode::move_baseActive() 
{ 
  //ROS_INFO("DarwinIcra12AlgNode::move_baseActive: Goal just went active!"); 
} 

void DarwinIcra12AlgNode::move_baseFeedback(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback) 
{ 
  //ROS_INFO("DarwinIcra12AlgNode::move_baseFeedback: Got Feedback!"); 

  bool feedback_is_ok = true; 

  //analyze feedback 
  //my_var = feedback->var; 

  //if feedback is not what expected, cancel requested goal 
  if( !feedback_is_ok ) 
  { 
    move_base_client_.cancelGoal(); 
    //ROS_INFO("DarwinIcra12AlgNode::move_baseFeedback: Cancelling Action!"); 
  } 
}

void DarwinIcra12AlgNode::move_left_armDone(const actionlib::SimpleClientGoalState& state,  const arm_navigation_msgs::MoveArmResultConstPtr& result) 
{ 
  if( state.toString().compare("SUCCEEDED") == 0 ) 
    ROS_INFO("DarwinIcra12AlgNode::move_armDone: Goal Achieved!"); 
  else 
    ROS_INFO("DarwinIcra12AlgNode::move_armDone: %s", state.toString().c_str()); 

  //copy & work with requested result 
  this->arm_moving=false;
} 

void DarwinIcra12AlgNode::move_left_armActive() 
{ 
  //ROS_INFO("DarwinIcra12AlgNode::move_armActive: Goal just went active!"); 
} 

void DarwinIcra12AlgNode::move_left_armFeedback(const arm_navigation_msgs::MoveArmFeedbackConstPtr& feedback) 
{ 
  //ROS_INFO("DarwinIcra12AlgNode::move_armFeedback: Got Feedback!"); 

  bool feedback_is_ok = true; 

  //analyze feedback 
  //my_var = feedback->var; 

  //if feedback is not what expected, cancel requested goal 
  if( !feedback_is_ok ) 
  { 
    move_left_arm_client_.cancelGoal(); 
    //ROS_INFO("DarwinIcra12AlgNode::move_armFeedback: Cancelling Action!"); 
  } 
}

/*  [action requests] */
void DarwinIcra12AlgNode::move_right_armMakeActionRequest() 
{ 
  ROS_INFO("DarwinIcra12AlgNode::move_right_armMakeActionRequest: Starting New Request!"); 

  //wait for the action server to start 
  //will wait for infinite time 
  move_right_arm_client_.waitForServer();  
  ROS_INFO("DarwinIcra12AlgNode::move_right_armMakeActionRequest: Server is Available!"); 

  //send a goal to the action 
  //move_right_arm_goal_.data = my_desired_goal; 
  move_right_arm_client_.sendGoal(move_right_arm_goal_, 
              boost::bind(&DarwinIcra12AlgNode::move_right_armDone,     this, _1, _2), 
              boost::bind(&DarwinIcra12AlgNode::move_right_armActive,   this), 
              boost::bind(&DarwinIcra12AlgNode::move_right_armFeedback, this, _1)); 
  ROS_INFO("DarwinIcra12AlgNode::move_right_armMakeActionRequest: Goal Sent. Wait for Result!"); 
  this->arm_moving=true;
}
void DarwinIcra12AlgNode::move_jointsMakeActionRequest() 
{ 
  ROS_INFO("DarwinIcra12AlgNode::move_jointsMakeActionRequest: Starting New Request!"); 

  //wait for the action server to start 
  //will wait for infinite time 
  move_joints_client_.waitForServer();  
  ROS_INFO("DarwinIcra12AlgNode::move_jointsMakeActionRequest: Server is Available!"); 

  //send a goal to the action 
  //move_joints_goal_.data = my_desired_goal; 
  move_joints_client_.sendGoal(move_joints_goal_, 
              boost::bind(&DarwinIcra12AlgNode::move_jointsDone,     this, _1, _2), 
              boost::bind(&DarwinIcra12AlgNode::move_jointsActive,   this), 
              boost::bind(&DarwinIcra12AlgNode::move_jointsFeedback, this, _1)); 
  ROS_INFO("DarwinIcra12AlgNode::move_jointsMakeActionRequest: Goal Sent. Wait for Result!"); 
  this->joints_moving=true;
}

void DarwinIcra12AlgNode::move_baseMakeActionRequest() 
{ 
  ROS_INFO("DarwinIcra12AlgNode::move_baseMakeActionRequest: Starting New Request!"); 

  //wait for the action server to start 
  //will wait for infinite time 
  move_base_client_.waitForServer();  
  ROS_INFO("DarwinIcra12AlgNode::move_baseMakeActionRequest: Server is Available!"); 

  //send a goal to the action 
  //move_base_goal_.data = my_desired_goal; 
  move_base_client_.sendGoal(move_base_goal_, 
              boost::bind(&DarwinIcra12AlgNode::move_baseDone,     this, _1, _2), 
              boost::bind(&DarwinIcra12AlgNode::move_baseActive,   this), 
              boost::bind(&DarwinIcra12AlgNode::move_baseFeedback, this, _1)); 
  ROS_INFO("DarwinIcra12AlgNode::move_baseMakeActionRequest: Goal Sent. Wait for Result!"); 
  this->base_moving=true;
}

void DarwinIcra12AlgNode::move_left_armMakeActionRequest() 
{ 
  ROS_INFO("DarwinIcra12AlgNode::move_armMakeActionRequest: Starting New Request!"); 

  //wait for the action server to start 
  //will wait for infinite time 
  move_left_arm_client_.waitForServer();  
  ROS_INFO("DarwinIcra12AlgNode::move_armMakeActionRequest: Server is Available!"); 

  //send a goal to the action 
  //move_arm_goal_.data = my_desired_goal; 
  move_left_arm_client_.sendGoal(move_left_arm_goal_, 
              boost::bind(&DarwinIcra12AlgNode::move_left_armDone,     this, _1, _2), 
              boost::bind(&DarwinIcra12AlgNode::move_left_armActive,   this), 
              boost::bind(&DarwinIcra12AlgNode::move_left_armFeedback, this, _1)); 
  ROS_INFO("DarwinIcra12AlgNode::move_armMakeActionRequest: Goal Sent. Wait for Result!"); 
  this->arm_moving=true;
}

void DarwinIcra12AlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void DarwinIcra12AlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<DarwinIcra12AlgNode>(argc, argv, "darwin_icra12_alg_node");
}