wam_controller_driver_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 _wam_controller_driver_node_h_
#define _wam_controller_driver_node_h_

#include <iri_base_driver/iri_base_driver_node.h>
#include "wam_controller_driver.h"
#include <Eigen/Dense>

// [publisher subscriber headers]
#include <geometry_msgs/PoseStamped.h>
#include <sensor_msgs/JointState.h>

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

// [action server client headers]
#include <iri_action_server/iri_action_server.h>
#include <control_msgs/FollowJointTrajectoryAction.h>

class WamControllerDriverNode : public iri_base_driver::IriBaseNodeDriver<WamControllerDriver>
{
  private:
    // [publisher attributes]
    ros::Publisher libbarrett_link_tcp_publisher_;
    geometry_msgs::PoseStamped PoseStamped_msg_;
    ros::Publisher joint_states_publisher_;
    sensor_msgs::JointState JointState_msg_;

    // [subscriber attributes]

    // [service attributes]
    ros::ServiceServer hold_on_server_;
    bool hold_onCallback(iri_wam_common_msgs::wamholdon::Request &req, iri_wam_common_msgs::wamholdon::Response &res);
    CMutex hold_on_mutex_;
    ros::ServiceServer joints_move_server_;
    bool joints_moveCallback(iri_wam_common_msgs::joints_move::Request &req, iri_wam_common_msgs::joints_move::Response &res);
    CMutex joints_move_mutex_;

    // [client attributes]

    // [action server attributes]
    IriActionServer<control_msgs::FollowJointTrajectoryAction> follow_joint_trajectory_aserver_;
    void follow_joint_trajectoryStartCallback(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal);
    void follow_joint_trajectoryStopCallback(void);
    bool follow_joint_trajectoryIsFinishedCallback(void);
    bool follow_joint_trajectoryHasSucceedCallback(void);
    void follow_joint_trajectoryGetResultCallback(control_msgs::FollowJointTrajectoryResultPtr& result);
    void follow_joint_trajectoryGetFeedbackCallback(control_msgs::FollowJointTrajectoryFeedbackPtr& feedback);

    // [action client attributes]

    void postNodeOpenHook(void);

  public:
    WamControllerDriverNode(ros::NodeHandle& nh);

    ~WamControllerDriverNode(void);

  protected:
    void mainNodeThread(void);

    // [diagnostic functions]

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

#endif