transmission_check.h

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#ifndef _PR2_TRANSMISSION_CHECK_TRANSMISSION_CHECK_
#define _PR2_TRANSMISSION_CHECK_TRANSMISSION_CHECK_

#include <vector>
#include <float.h>

#include <boost/shared_ptr.hpp>
#include <boost/math/special_functions/fpclassify.hpp>
#include <boost/accumulators/accumulators.hpp>
#include <boost/accumulators/statistics/max.hpp>
#include <boost/accumulators/statistics/min.hpp>
#include <diagnostic_updater/DiagnosticStatusWrapper.h>
#include <urdf/joint.h>

#include <ros/ros.h>
#include <pr2_mechanism_msgs/MechanismStatistics.h>
#include <pr2_mechanism_msgs/JointStatistics.h>
#include <pr2_mechanism_msgs/ActuatorStatistics.h>


namespace pr2_transmission_check
{

class TransmissionListener
{
private:
  std::string joint_name_;
  std::string actuator_name_;
  float deadband_;
  float up_ref_;
  float down_ref_;
  bool has_wrap_, has_up_, has_down_;
  bool status_, last_trans_status_;
  float max_;
  float min_;
  int error_cnt_;

  int num_errors_;
  int num_hits_;
  int num_errors_since_reset_;
  int rx_cnt_;
  
  bool last_cal_reading_;
  float last_rising_, last_falling_;
  float last_bad_reading_;
  float last_position_;
  bool is_calibrated_;

  bool has_updated_;
  
  // Min and max observed joint positions
  boost::accumulators::accumulator_set<float, 
                                       boost::accumulators::features<boost::accumulators::tag::max, 
                                                                     boost::accumulators::tag::min> > position_obs_;

  // Check to make sure we're in min/max
  bool checkBounds(const pr2_mechanism_msgs::JointStatistics *js) const;
  
  // Check to make sure we have correct flag setting
  bool checkFlag(const pr2_mechanism_msgs::JointStatistics *js, 
                 const pr2_mechanism_msgs::ActuatorStatistics *as) const;

public:
  TransmissionListener();

  ~TransmissionListener() {}

  bool initUrdf(const boost::shared_ptr<urdf::Joint> jnt, const std::string &actuator_name);

  bool update(const pr2_mechanism_msgs::MechanismStatistics::ConstPtr& mechMsg);

  bool checkOK() const { return status_; }

  void reset() { status_ = true; last_trans_status_ = true; num_errors_since_reset_ = 0; }

  boost::shared_ptr<diagnostic_updater::DiagnosticStatusWrapper> toDiagStat() const;
};



}

#endif //