GoDock.cpp

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* Author: Gonçalo Cabrita on 11/10/2010
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#include "roomba_500_series/GoDock.h"

GoDockAction::GoDockAction(std::string name) : as_(nh_, name, boost::bind(&GoDockAction::goalCallback, this, _1)) , action_name_(name)
{
        ir_sub_ = nh_.subscribe("/ir_character", 1, &GoDockAction::irCallback, this);
        bat_sub_ = nh_.subscribe("/battery", 1, &GoDockAction::batteryCallback, this);

        cmd_vel_pub_ = nh_.advertise<geometry_msgs::Twist>("/cmd_vel", 1);
}

GoDockAction::~GoDockAction()
{
        
}

void GoDockAction::goalCallback(const roomba_500_series::GoDockGoalConstPtr & goal)
{
        ros::Rate r(10);
        ROS_INFO("GoDock -- Initiating docking proceadure...");

        int no_signal = 0;
        ros::Time start_time = ros::Time::now();
        while(true)
        {
                // No active
                if(!as_.isActive()) return;
                // Failed
                if(ir_character_.omni == 0 && ir_character_.left == 0 && ir_character_.right == 0) no_signal++;
                else no_signal = 0;
                if(no_signal == 10)
                {
                        as_.setAborted();
                        ROS_INFO("GoDock - Aborting...");
                        sendCmdVel(0.0, 0.0);
                        return;
                }
                // Succeeded
                if(dock_)
                {
                        as_.setSucceeded();
                        ROS_INFO("GoDock -- Charging!");
                        sendCmdVel(0.0, 0.0);
                        return;
                }
                
                // TODO: Finetune the docking proceadure!!!
                if((ir_character_.left == RED_BUOY_GREEN_BUOY && ir_character_.right == RED_BUOY_GREEN_BUOY) || (ir_character_.left == RED_BUOY_GREEN_BUOY_FORCE_FIELD && ir_character_.right == RED_BUOY_GREEN_BUOY_FORCE_FIELD))
                {
                        sendCmdVel(0.05, 0.0);
                }
                else if(ir_character_.left == RED_BUOY || ir_character_.left == RED_BUOY_FORCE_FIELD)
                {
                        sendCmdVel(0.05, 0.1);
                }
                else if(ir_character_.right == GREEN_BUOY || ir_character_.right == GREEN_BUOY_FORCE_FIELD)
                {
                        sendCmdVel(0.05, -0.1);
                }

                r.sleep();
        }       
}

void GoDockAction::irCallback(const roomba_500_series::IRCharacterConstPtr & ir)
{
        ir_character_.omni = ir->omni;
        ir_character_.left = ir->left;
        ir_character_.right = ir->right;
}

void GoDockAction::batteryCallback(const roomba_500_series::BatteryConstPtr & bat)
{
        dock_ = bat->dock;
}

void GoDockAction::sendCmdVel(float linear, float angular)
{
        geometry_msgs::Twist cmd_vel;
        cmd_vel.linear.x = linear;
        cmd_vel.angular.z = angular;
        cmd_vel_pub_.publish(cmd_vel);
}

// EOF