grasp_actions_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 _grasp_actions_alg_node_h_
#define _grasp_actions_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>

// [publisher subscriber headers]

// [service client headers]
#include <iri_wam_common_msgs/bhand_cmd.h>
#include <iri_wam_common_msgs/joints_move.h>
#include <iri_wam_common_msgs/wamInverseKinematics.h>

// [action server client headers]
#include <actionlib/client/simple_action_client.h>
#include <iri_action_server/iri_action_server.h>
#include <iri_wam_common_msgs/SimpleBhandPickUpAction.h>
#include <iri_dynamixel_gripper/openAction.h>
#include <iri_dynamixel_gripper/closeAction.h>

#include <geometry_msgs/Pose.h>
#include <geometry_msgs/PoseStamped.h>
#include <object_manipulation_msgs/GripperTranslation.h>

#include "grasp_generator.h"
#include "grasp_actions_alg.h"

class GraspActionsAlgNode : public algorithm_base::IriBaseAlgorithm<GraspActionsAlgorithm>
{
  // Finger configuration is composed by a list of BarrettHand commands
  // defined as strings
  typedef std::vector<std::string> FingersConfiguration;

  private:
    std::string pre_grasp_fingers_configuration_;
    std::string grasp_fingers_configuration_;
    int status_;
    GraspGenerator grasp_generator_;

    // [publisher attributes]

    // [subscriber attributes]

    // [service attributes]

    // [client attributes]
    ros::ServiceClient                        bhand_cmd_client_;
    ros::ServiceClient                        joints_move_client_;
    ros::ServiceClient                        wam_bhand_ik_client_;

    // Execute barrett hand commands through the bhand_cmd service
    void moveFingersBHand(const FingersConfiguration & finger_config);
    // Execute gripper commands (open and close) through the dynamixel_motor action
    void moveFingersGripper(const FingersConfiguration & finger_config);
    
    void moveFingers(const FingersConfiguration & finger_config);
    void moveArm(const geometry_msgs::PoseStamped pose);
    void run_grasp_actions(const GraspPhaseSequence & actions);

    // [action server attributes]
    IriActionServer<iri_wam_common_msgs::SimpleBhandPickUpAction> pickup_aserver_;
    void pickupStartCallback(const iri_wam_common_msgs::SimpleBhandPickUpGoalConstPtr& goal);
    void pickupStopCallback(void);
    bool pickupIsFinishedCallback(void);
    bool pickupHasSucceedCallback(void);
    void pickupGetResultCallback(iri_wam_common_msgs::SimpleBhandPickUpResultPtr& result);
    void pickupGetFeedbackCallback(iri_wam_common_msgs::SimpleBhandPickUpFeedbackPtr& feedback);

    // [action client attributes]
    actionlib::SimpleActionClient<iri_dynamixel_gripper::openAction> open_gripper_client_;
    iri_dynamixel_gripper::openGoal open_gripper_goal_;
    void open_gripperMakeActionRequest();
    void open_gripperDone(const actionlib::SimpleClientGoalState& state,  const iri_dynamixel_gripper::openResultConstPtr& result);
    void open_gripperActive();
    void open_gripperFeedback(const iri_dynamixel_gripper::openFeedbackConstPtr& feedback);

    actionlib::SimpleActionClient<iri_dynamixel_gripper::closeAction> close_gripper_client_;
    iri_dynamixel_gripper::closeGoal close_gripper_goal_;
    void close_gripperMakeActionRequest();
    void close_gripperDone(const actionlib::SimpleClientGoalState& state,  const iri_dynamixel_gripper::closeResultConstPtr& result);
    void close_gripperActive();
    void close_gripperFeedback(const iri_dynamixel_gripper::closeFeedbackConstPtr& feedback);

    // node parameters for param server
    bool using_bhand_;
    
  public:
    GraspActionsAlgNode(void);

    ~GraspActionsAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif