pr2_transmission_check_node.h

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#ifndef _PR2_TRANSMISSION_CHECK_TRANS_CHECK_NODE_H_
#define _PR2_TRANSMISSION_CHECK_TRANS_CHECK_NODE_H_

#include <ros/ros.h>
#include <pr2_mechanism_msgs/MechanismStatistics.h>
#include <diagnostic_msgs/DiagnosticArray.h>
#include <diagnostic_updater/DiagnosticStatusWrapper.h>
#include <vector>
#include <float.h>
#include <boost/shared_ptr.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
#include "pr2_mechanism_model/robot.h"
#include "std_srvs/Empty.h"
#include "std_msgs/Bool.h"
#include "pr2_transmission_check/transmission_check.h"
#include <exception>

namespace pr2_transmission_check
{

class PR2TransmissionCheckException: public std::runtime_error
{
public:
  PR2TransmissionCheckException(const std::string &errorDesc) : std::runtime_error(errorDesc) { ; };
};

class PR2TransmissionCheckNode
{
private:
  ros::NodeHandle n_, pnh_;
  ros::Subscriber mech_st_sub_;
  ros::Publisher diag_pub_;
  ros::Publisher trans_status_pub_;
  ros::ServiceServer reset_srv_;

  bool use_sim_time_;
  bool disable_controller_warnings_;

  std::vector<boost::shared_ptr<TransmissionListener> > trans_listeners_;
  bool trans_status_;

  void loadTransCheckers(urdf::Model &robot, std::map<std::string, std::string> &joints_to_actuators);

  void loadTransmissions(TiXmlElement *robot, std::map<std::string, std::string> &joints_to_actuators);
  
  void mechCallback(const pr2_mechanism_msgs::MechanismStatistics::ConstPtr& mechMsg);

  bool reset_cb(std_srvs::Empty::Request& request, std_srvs::Empty::Response& response)
  {
    for (uint i = 0; i < trans_listeners_.size(); ++i)
      trans_listeners_[i]->reset();

    trans_status_ = true;
    return true;
  }

public:
  PR2TransmissionCheckNode(); 

  ~PR2TransmissionCheckNode() { }
  

  
  void publishDiag(); 
  bool ok() const { return n_.ok(); } 
};

}

#endif