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