tibi_dabo_hri_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_hri_alg_node_h_
#define _tibi_dabo_hri_alg_node_h_

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

// [publisher subscriber headers]
#include <std_msgs/String.h>

// [service client headers]

// [action server client headers]
#include <iri_action_server/iri_action_server.h>
#include <tibi_dabo_msgs/sequenceAction.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <iri_common_drivers_msgs/ttsAction.h>

typedef enum {TTS_=0,LEDS_=1,HEAD_=2,LEFT_ARM_=3,RIGHT_ARM_=4} clients;
static const unsigned int NUM_CLIENTS=RIGHT_ARM_-TTS_+1;

typedef actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> SeqClient;

typedef struct 
{
  SeqClient *client;
  bool succeeded;
  bool active;
  bool loaded;
  float percentage;
}TSeqClient;

typedef actionlib::SimpleActionClient<iri_common_drivers_msgs::ttsAction> TtsClient;

typedef struct 
{
  TtsClient *client;
  bool succeeded;
  bool active;
  bool loaded;
  float percentage;
}TTtsClient;
class TibiDaboHriAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboHriAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher facial_expression_publisher_;

    // [subscriber attributes]

    // [service attributes]

    // [client attributes]

    // [action server attributes]
    IriActionServer<tibi_dabo_msgs::sequenceAction> seqs_aserver_;
    void startCallback(const tibi_dabo_msgs::sequenceGoalConstPtr& goal);
    void stopCallback(void);
    bool isFinishedCallback(void);
    bool hasSucceedCallback(void);
    void getResultCallback(tibi_dabo_msgs::sequenceResultPtr& result);
    void getFeedbackCallback(tibi_dabo_msgs::sequenceFeedbackPtr& feedback);

    // [action client attributes]
    // Loquendo TTS
    TTtsClient tts_;
    void ttsMakeActionRequest(const iri_common_drivers_msgs::ttsGoal & tts_goal);
    void ttsDone(const actionlib::SimpleClientGoalState& state, const iri_common_drivers_msgs::ttsResultConstPtr& result);
    void ttsActive(void);
    void ttsFeedback(const iri_common_drivers_msgs::ttsFeedbackConstPtr& feedback);

    // Head Leds
    TSeqClient leds_;
    void ledsMakeActionRequest(const tibi_dabo_msgs::sequenceGoal & leds_goal);
    void ledsDone(const actionlib::SimpleClientGoalState& state, const tibi_dabo_msgs::sequenceResultConstPtr& result);
    void ledsActive(void);
    void ledsFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback);
    
    // Head sequence
    TSeqClient head_;
    void headMakeActionRequest(const tibi_dabo_msgs::sequenceGoal & head_goal);
    void headDone(const actionlib::SimpleClientGoalState& state, const tibi_dabo_msgs::sequenceResultConstPtr& result);
    void headActive(void);
    void headFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback);
    
    // left arm sequence
    TSeqClient left_arm_;
    void leftArmMakeActionRequest(const tibi_dabo_msgs::sequenceGoal & left_arm_goal);
    void leftArmDone(const actionlib::SimpleClientGoalState& state, const tibi_dabo_msgs::sequenceResultConstPtr& result);
    void leftArmActive(void);
    void leftArmFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback);

    // right arm sequence
    TSeqClient right_arm_;
    void rightArmMakeActionRequest(const tibi_dabo_msgs::sequenceGoal & right_arm_goal);
    void rightArmDone(const actionlib::SimpleClientGoalState& state, const tibi_dabo_msgs::sequenceResultConstPtr& result);
    void rightArmActive(void);
    void rightArmFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback);
    

    bool empty_leds_sequence_;
    bool tts_connected_;
    bool leds_connected_;
    bool head_connected_;
    bool left_arm_connected_;
    bool right_arm_connected_;
    
  public:
    TibiDaboHriAlgNode(void);

    ~TibiDaboHriAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
    
    void cancelCurrentGoals(void);
    void speak(void);
};

#endif