tibi_dabo_haod_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _tibi_dabo_haod_alg_node_h_
#define _tibi_dabo_haod_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "tibi_dabo_haod_alg.h"

// [publisher subscriber headers]
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include <sensor_msgs/Joy.h>

// [service client headers]
#include <iri_human_assisted_object_detection/haod_learn.h>
#include <iri_human_assisted_object_detection/haod_detect.h>
#include <iri_human_assisted_object_detection/haod_init.h>

// [action server client headers]
#include <iri_nav_msgs/followTargetAction.h>
#include <iri_action_server/iri_action_server.h>
#include <tibi_dabo_msgs/haodAction.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <tibi_dabo_msgs/sequenceAction.h>

typedef enum {haod_idle,haod_hri_intro,haod_init,haod_hri_init,haod_detect,haod_hri_help,haod_user_input,haod_learn,haod_hri_exit} haod_states;

typedef enum {none,help,valid_det,invalid_det,end,force_end} joy_actions;

typedef enum {catalan,english,spanish} languages;

typedef enum {hri_intro=0,hri_init=1,hri_help=2,hri_exit=3} hri_actions;

class TibiDaboHaodAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboHaodAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher target_joints_publisher_;
    trajectory_msgs::JointTrajectoryPoint JointTrajectoryPoint_msg_;

    // [subscriber attributes]
    ros::Subscriber joy_subscriber_;
    void joy_callback(const sensor_msgs::Joy::ConstPtr& msg);
    CMutex joy_mutex_;
    bool new_joy_msg;
    joy_actions joy_action;
    languages language;

    // [service attributes]

    // [client attributes]
    ros::ServiceClient haod_learn_client_;
    iri_human_assisted_object_detection::haod_learn haod_learn_srv_;
    ros::ServiceClient haod_detect_client_;
    iri_human_assisted_object_detection::haod_detect haod_detect_srv_;
    ros::ServiceClient haod_init_client_;
    iri_human_assisted_object_detection::haod_init haod_init_srv_;

    // [action server attributes]
    IriActionServer<tibi_dabo_msgs::haodAction> haod_server_aserver_;
    void haod_serverStartCallback(const tibi_dabo_msgs::haodGoalConstPtr& goal);
    void haod_serverStopCallback(void);
    bool haod_serverIsFinishedCallback(void);
    bool haod_serverHasSucceedCallback(void);
    void haod_serverGetResultCallback(tibi_dabo_msgs::haodResultPtr& result);
    void haod_serverGetFeedbackCallback(tibi_dabo_msgs::haodFeedbackPtr& feedback);
    bool new_haod_action;
    bool haod_need_help;
    bool stop_haod;
    int init_x,init_y;

    // [action client attributes]
    actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> hri_client_client_;
    tibi_dabo_msgs::sequenceGoal hri_client_goal_;
    void hri_clientMakeActionRequest();
    void hri_clientDone(const actionlib::SimpleClientGoalState& state,  const tibi_dabo_msgs::sequenceResultConstPtr& result);
    void hri_clientActive();
    void hri_clientFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback);
    bool hri_action_done;

    actionlib::SimpleActionClient<iri_nav_msgs::followTargetAction> follow_target_client_;
    iri_nav_msgs::followTargetGoal follow_target_goal_;
    void follow_targetMakeActionRequest();
    void follow_targetDone(const actionlib::SimpleClientGoalState& state,  const iri_nav_msgs::followTargetResultConstPtr& result);
    void follow_targetActive();
    void follow_targetFeedback(const iri_nav_msgs::followTargetFeedbackConstPtr& feedback);
    bool tracking_head;

  protected:
    void execute_hri_action(hri_actions action);

  public:
    TibiDaboHaodAlgNode(void);

    ~TibiDaboHaodAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif