tibi_dabo_intro_alg_node.h
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00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
00002 // Author 
00003 // All rights reserved.
00004 //
00005 // This file is part of iri-ros-pkg
00006 // iri-ros-pkg is free software: you can redistribute it and/or modify
00007 // it under the terms of the GNU Lesser General Public License as published by
00008 // the Free Software Foundation, either version 3 of the License, or
00009 // at your option) any later version.
00010 //
00011 // This program is distributed in the hope that it will be useful,
00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of
00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00014 // GNU Lesser General Public License for more details.
00015 //
00016 // You should have received a copy of the GNU Lesser General Public License
00017 // along with this program.  If not, see <http://www.gnu.org/licenses/>.
00018 // 
00019 // IMPORTANT NOTE: This code has been generated through a script from the 
00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
00021 // of the scripts. ROS topics can be easly add by using those scripts. Please
00022 // refer to the IRI wiki page for more information:
00023 // http://wikiri.upc.es/index.php/Robotics_Lab
00024 
00025 #ifndef _tibi_dabo_intro_alg_node_h_
00026 #define _tibi_dabo_intro_alg_node_h_
00027 
00028 #include <iri_base_algorithm/iri_base_algorithm.h>
00029 #include "tibi_dabo_intro_alg.h"
00030 
00031 // [publisher subscriber headers]
00032 #include <sensor_msgs/Joy.h>
00033 
00034 // [service client headers]
00035 
00036 // [action server client headers]
00037 #include <actionlib/client/simple_action_client.h>
00038 #include <actionlib/client/terminal_state.h>
00039 #include <tibi_dabo_msgs/sequenceAction.h>
00040 
00041 //typedef enum {lab, tibidabo, teo, /*car,*/ humanoides, questions, farewell} states;
00042 
00047 class TibiDaboIntroAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboIntroAlgorithm>
00048 {
00049   private:
00050     // [publisher attributes]
00051 
00052     // [subscriber attributes]
00053     ros::Subscriber joy_subscriber_;
00054     void joy_callback(const sensor_msgs::Joy::ConstPtr& msg);
00055     CMutex joy_mutex_;
00056 
00057     // [service attributes]
00058 
00059     // [client attributes]
00060 
00061     // [action server attributes]
00062 
00063     // [action client attributes]
00064     actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> hri_client_client_;
00065     tibi_dabo_msgs::sequenceGoal hri_client_goal_;
00066     void hri_clientMakeActionRequest();
00067     void hri_clientDone(const actionlib::SimpleClientGoalState& state,  const tibi_dabo_msgs::sequenceResultConstPtr& result);
00068     void hri_clientActive();
00069     void hri_clientFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback);
00070     bool hriActive;
00071 
00072     // [class attributes]
00073     std::vector< std::vector < std::vector< std::string> > > speech;
00074     std::vector< std::vector < std::vector< std::string> > > head_sequence;
00075     std::vector< std::vector < std::vector< std::string> > > left_arm_sequence;
00076     std::vector< std::vector < std::vector< std::string> > > right_arm_sequence;
00077     int current_language;
00078     int robot;
00079     std::vector< std::vector< std::string > > hri_prefix;
00080     bool trigger_forward;
00081     bool trigger_backward;
00082 
00083     void loadSequences();
00084     bool doHri(int state);
00085     void fillHriGoal(int state, int index);
00086 
00087   public:
00094     TibiDaboIntroAlgNode(void);
00095 
00102     ~TibiDaboIntroAlgNode(void);
00103 
00104   protected:
00117     void mainNodeThread(void);
00118 
00131     void node_config_update(Config &config, uint32_t level);
00132 
00139     void addNodeDiagnostics(void);
00140 
00141     // [diagnostic functions]
00142     
00143     // [test functions]
00144 };
00145 
00146 #endif


tibi_dabo_intro
Author(s): fherrero
autogenerated on Fri Dec 6 2013 21:58:14