place_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 _place_alg_node_h_
#define _place_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "place_alg.h"

// [publisher subscriber headers]

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

// [action server client headers]
#include <iri_action_server/iri_action_server.h>
#include <object_manipulation_msgs/PlaceAction.h>

enum ACTIONSTATUS { 
    IDLE,
    POSE_CHECKED,
    POSITION_REACHED,
    HAND_OPENED,
    FINISH
};

class PlaceAlgNode : public algorithm_base::IriBaseAlgorithm<PlaceAlgorithm>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]

    // [service attributes]

    // [client attributes]
    ros::ServiceClient joints_move_client_;
    iri_wam_common_msgs::joints_move joints_move_srv_;
    ros::ServiceClient get_tcp_ik_client_;
    iri_wam_common_msgs::wamInverseKinematics get_tcp_ik_srv_;
    ros::ServiceClient bhand_cmd_client_;
    iri_wam_common_msgs::bhand_cmd bhand_cmd_srv_;

    // [action server attributes]
    std::string place_pose_frame_id_;
    bool place_action_success_;
    bool last_place_action_success_;
    int place_action_status_;
    IriActionServer<object_manipulation_msgs::PlaceAction> place_aserver_;
    void placeStartCallback(const object_manipulation_msgs::PlaceGoalConstPtr& goal);
    void placeStopCallback(void);
    bool placeIsFinishedCallback(void);
    bool placeHasSucceedCallback(void);
    void placeGetResultCallback(object_manipulation_msgs::PlaceResultPtr& result);
    void placeGetFeedbackCallback(object_manipulation_msgs::PlaceFeedbackPtr& feedback);

    // [action client attributes]

  public:
    PlaceAlgNode(void);

    ~PlaceAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif