skill_crane_frontend.cpp

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/*
 * Copyright (c) 2009, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include "pr2_skill_crane/skill_crane_frontend.h"

#include <rviz/visualization_manager.h>

using pr2_interactive_manipulation::IMGUIAction;
using pr2_interactive_manipulation::IMGUIGoal;
using pr2_interactive_manipulation::IMGUIOptions;
using pr2_interactive_manipulation::IMGUIAdvancedOptions;

using object_manipulation_msgs::ManipulationResult;

namespace pr2_skill_crane {

typedef actionlib::SimpleActionClient<IMGUIAction> Client;

SkillCraneFrontend::SkillCraneFrontend(wxWindow *parent, rviz::VisualizationManager* manager) : 
  SkillCraneFrameBase(parent),
  status_label_text_("idle"),
  active_goal_(false)
{
  action_name_ = "imgui_action";  
  action_client_ = new actionlib::SimpleActionClient<IMGUIAction>(action_name_, true);
}

SkillCraneFrontend::~SkillCraneFrontend()
{
  delete action_client_;
}

wxString getWxString(std::string str)
{
  wxString mystring(str.c_str(), wxConvUTF8);
  return mystring;
}

void SkillCraneFrontend::update()
{
  status_label_mutex_.lock();
  wxString mystring(status_label_text_.c_str(), wxConvUTF8);  
  status_label_mutex_.unlock();
  status_label_->SetLabel(mystring);

  if (active_goal_)
  {
    actionlib::SimpleClientGoalState state = action_client_->getState();
    if (state != actionlib::SimpleClientGoalState::PENDING && 
        state != actionlib::SimpleClientGoalState::ACTIVE)
    {
      active_goal_ = false;
    }
  }
  
  //check if we are executing the prepare routine
  if (!mutex_.try_lock()) active_goal_ = true;
  else mutex_.unlock();

  prepare_button_->Enable(!active_goal_);
  grasp_button_->Enable(!active_goal_);
  place_button_->Enable(!active_goal_);
  handoff_button_->Enable(!active_goal_);
}

void SkillCraneFrontend::setStatusLabel(std::string label)
{
  boost::mutex::scoped_lock lock(status_label_mutex_);
  status_label_text_ = label;
}

void SkillCraneFrontend::feedbackCallback(const pr2_interactive_manipulation::IMGUIFeedbackConstPtr &feedback)
{
  ROS_DEBUG_STREAM("SSC Frontend received feedback" << feedback->status);
  setStatusLabel(feedback->status);
}

//arm_action_choice is 0 for side, 2 for handoff
bool SkillCraneFrontend::moveArmToSide(int arm_selection, int arm_action_choice)
{
  IMGUIGoal goal;
  goal.command.command = goal.command.MOVE_ARM;
  goal.options.arm_selection = arm_selection;
  goal.options.arm_action_choice = arm_action_choice;

  //try with planner first
  goal.options.arm_planner_choice = 0;
  goal.options.collision_checked = true;
  action_client_->sendGoal(goal,Client::SimpleDoneCallback(), Client::SimpleActiveCallback(),
                           boost::bind(&SkillCraneFrontend::feedbackCallback, this, _1));
  while ( !action_client_->waitForResult(ros::Duration(1.0)) ) {}
  if (action_client_->getResult()->result.value == ManipulationResult::SUCCESS) return true;

  //if we failed, try open loop
  goal.options.arm_planner_choice = 1;
  action_client_->sendGoal(goal,Client::SimpleDoneCallback(), Client::SimpleActiveCallback(),
                           boost::bind(&SkillCraneFrontend::feedbackCallback, this, _1));
  while ( !action_client_->waitForResult(ros::Duration(1.0)) ) {}
  if (action_client_->getResult()->result.value == ManipulationResult::SUCCESS) return true;

  return false;
}

void SkillCraneFrontend::prepare()
{
  boost::mutex::scoped_lock lock(mutex_);
  if (!moveArmToSide(0, 0))
  {
    setStatusLabel("an error has occured");
    return;
  }
  if (!moveArmToSide(1, 0))
  {
    setStatusLabel("an error has occured");
    return;
  }
  IMGUIGoal goal;
  goal.command.command = goal.command.TAKE_MAP;
  action_client_->sendGoal(goal,Client::SimpleDoneCallback(), Client::SimpleActiveCallback(),
                           boost::bind(&SkillCraneFrontend::feedbackCallback, this, _1));
  while ( !action_client_->waitForResult(ros::Duration(1.0)) ) {}
  if (action_client_->getResult()->result.value != ManipulationResult::SUCCESS) 
  {
    setStatusLabel("An error has occured");
    return;
  }

  goal.command.command = goal.command.LOOK_AT_TABLE;
  action_client_->sendGoal(goal,Client::SimpleDoneCallback(), Client::SimpleActiveCallback(),
                           boost::bind(&SkillCraneFrontend::feedbackCallback, this, _1));
  while ( !action_client_->waitForResult(ros::Duration(1.0)) ) {}
  if (action_client_->getResult()->result.value == ManipulationResult::SUCCESS) setStatusLabel("ready");
  else setStatusLabel("An error has occured");
}

void SkillCraneFrontend::prepareButtonClicked( wxCommandEvent& )
{
  if (!mutex_.try_lock()) return;
  executing_thread_ = new boost::thread(boost::bind(&SkillCraneFrontend::prepare, this));
  mutex_.unlock();
}

void SkillCraneFrontend::graspButtonClicked( wxCommandEvent& )
{
  IMGUIGoal goal;
  goal.options.collision_checked = true;
  goal.options.arm_selection = arm_choice_->GetSelection();
  goal.options.grasp_selection = 0;

  IMGUIAdvancedOptions go;
  go.reactive_grasping = false;
  go.reactive_force = false;
  go.reactive_place = true;
  go.lift_steps  = 10;
  go.retreat_steps = 10;
  go.lift_vertically = 0;
  goal.options.adv_options = go;

  goal.command.command = goal.command.PICKUP;
  action_client_->sendGoal(goal,Client::SimpleDoneCallback(), Client::SimpleActiveCallback(),
                           boost::bind(&SkillCraneFrontend::feedbackCallback, this, _1));
  active_goal_ = true;
}

void SkillCraneFrontend::placeButtonClicked( wxCommandEvent& )
{
  IMGUIGoal goal;
  goal.options.collision_checked = true;
  goal.options.arm_selection = arm_choice_->GetSelection();
  goal.options.grasp_selection = 0;

  IMGUIAdvancedOptions go;
  go.reactive_grasping = false;
  go.reactive_force = false;
  go.reactive_place = true;
  go.lift_steps  = 10;
  go.retreat_steps = 10;
  go.lift_vertically = 0;
  goal.options.adv_options = go;

  goal.command.command = goal.command.PLACE;
  action_client_->sendGoal(goal,Client::SimpleDoneCallback(), Client::SimpleActiveCallback(),
                           boost::bind(&SkillCraneFrontend::feedbackCallback, this, _1));
  active_goal_ = true;
}

void SkillCraneFrontend::handoff()
{
  boost::mutex::scoped_lock lock(mutex_);
  if (!moveArmToSide(1, 2))
  {
    setStatusLabel("an error has occured");
    return;
  }

  IMGUIGoal goal;
  goal.command.command = goal.command.MOVE_GRIPPER;
  goal.options.gripper_slider_position = 100;
  goal.options.arm_selection = 1;
  action_client_->sendGoal(goal,Client::SimpleDoneCallback(), Client::SimpleActiveCallback(),
                           boost::bind(&SkillCraneFrontend::feedbackCallback, this, _1));
  while ( !action_client_->waitForResult(ros::Duration(1.0)) ) setStatusLabel("opening gripper");
  if (action_client_->getResult()->result.value != ManipulationResult::SUCCESS) 
  {
    setStatusLabel("an error has occured");
    return;
  }
  setStatusLabel("you're welcome!");
}

void SkillCraneFrontend::handoffButtonClicked( wxCommandEvent& )
{
  if (!mutex_.try_lock()) return;
  executing_thread_ = new boost::thread(boost::bind(&SkillCraneFrontend::handoff, this));
  mutex_.unlock();
}

}