tibi_dabo_hri_teleop_alg.h

Go to the documentation of this file.

// 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_teleop_alg_h_
#define _tibi_dabo_hri_teleop_alg_h_

#include <tibi_dabo_hri_teleop/TibiDaboHriTeleopConfig.h>
#include "mutex.h"

//include tibi_dabo_hri_teleop_alg main library

extern std::string home_seq;
extern std::string speech_path;
extern std::string motion_path;

class TibiDaboHriTeleopAlgorithm
{
  protected:
    CMutex alg_mutex_;

    // private attributes and methods
    
    // dynamic reconfigure variables
    unsigned int desired_home_interval_;
    unsigned int desired_speech_interval;
    unsigned int desired_repeat_interval_;

    
    typedef enum {TTS_=0,LEDS_=1,HEAD_=2,LEFT_ARM_=3,RIGHT_ARM_=4} clients;
    static const int NUM_CLIENTS=RIGHT_ARM_-TTS_+1;
    
    void scan_XML_files(void);
    
  public:
    typedef tibi_dabo_hri_teleop::TibiDaboHriTeleopConfig Config;

    Config config_;

    TibiDaboHriTeleopAlgorithm(void);

    void lock(void) { alg_mutex_.enter(); };

    void unlock(void) { alg_mutex_.exit(); };

    bool try_enter(void) { return alg_mutex_.try_enter(); };

    void config_update(Config& new_cfg, uint32_t level=0);

    // here define all tibi_dabo_hri_teleop_alg interface methods to retrieve and set
    // the driver parameters
    std::string xml_path;
    void load_goal(std::string &filename,std::vector<std::string> &xml_files);

    std::vector<std::string> motion_seq_files_;
    std::vector<std::string> speech_files;
        std::vector<std::string> speech_filenames;

    ~TibiDaboHriTeleopAlgorithm(void);
};

#endif