skill_crane_frontend.h

Go to the documentation of this file.

/*
 * 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
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#ifndef SKILL_CRANE_FRONTEND_H
#define SKILL_CRANE_FRONTEND_H

#include "pr2_skill_crane/skill_crane_ui.h"

#include <pr2_interactive_manipulation/IMGUIOptions.h>
#include <pr2_interactive_manipulation/IMGUIAdvancedOptions.h>
#include <pr2_interactive_manipulation/IMGUIAction.h>

#include <ros/ros.h>

#include <actionlib/client/simple_action_client.h>

namespace rviz {
class WindowManagerInterface;
class RenderPanel;
class VisualizationManager;
}

namespace pr2_skill_crane {

class SkillCraneFrontend : public SkillCraneFrameBase
{
public:
  SkillCraneFrontend(wxWindow *parent, rviz::VisualizationManager* manager);

  ~SkillCraneFrontend();

  void update();

protected:

  void feedbackCallback(const pr2_interactive_manipulation::IMGUIFeedbackConstPtr &feedback);

  virtual void prepareButtonClicked( wxCommandEvent& event );

  virtual void graspButtonClicked( wxCommandEvent& event );

  virtual void placeButtonClicked( wxCommandEvent& event );

  virtual void handoffButtonClicked( wxCommandEvent& event );

  void setStatusLabel(std::string label);

  bool moveArmToSide(int arm_selection, int arm_action_choice);

  void prepare();

  void handoff();

  ros::NodeHandle root_nh_;

  ros::NodeHandle priv_nh_;

  actionlib::SimpleActionClient<pr2_interactive_manipulation::IMGUIAction> *action_client_;

  std::list<pr2_interactive_manipulation::IMGUIGoal> pending_goals_;
  
  std::string action_name_;

  std::string status_label_text_;

  boost::mutex status_label_mutex_;

  boost::mutex mutex_;

  boost::thread *executing_thread_;

  bool active_goal_;
};

}

#endif