Experiment.cpp

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/*
 * Experiment.cpp
 *
 *  Created on: Nov 15, 2011
 *      Author: mriedel
 */

#include "Experiment.hpp"

#include <telekyb_base/ROS.hpp>
#include <telekyb_base/Time.hpp>

#include <telekyb_base/Spaces.hpp>

// Options
ExperimentOptions::ExperimentOptions()
        : OptionContainer("ExperimentOptions")
{
        robotID = addOption<int>("robotID", "Specify the robotID of the TeleKybCore to connect to.", 0, false, true);
        tJoystickTopic = addOption<std::string>("tJoystickTopic",
                        "Joysticktopic to use (sensor_msgs::Joy)", "/TeleKyb/tJoy/joy", false, true);
        tUseMKInterface = addOption<bool>("tUseMKInterface", "Set to true with MKInterface!", false, false, true);
        trajectoryFile = addOption<std::string>("trajectoryFile", "Trajectory file", "", false, true);
}

Experiment::Experiment()
        : mainNodeHandle( ROSModule::Instance().getMainNodeHandle() ), core(NULL), mkInterface(NULL)
{
        core = telekyb_interface::TeleKybCore::getTeleKybCore(options.robotID->getValue());
        if (!core) {
                // fail
                ros::shutdown();
                return;
        }

        //options.tUseMKInterface->setValue(true);
        if (options.tUseMKInterface->getValue()) {
                ROS_INFO("Creating MKInterface!");
                // use MKInterface
                mkInterface = telekyb_interface::MKInterface::getMKInterface(options.robotID->getValue());
                //mkInterface = telekyb_interface::MKInterface::getMKInterface(1); // BEWARE TEMPORARY!!!
                if (!mkInterface) {
                        // fail
                        ros::shutdown();
                        return;
                }
        }

        bController = core->getBehaviorController();
        oController = core->getOptionController();

        //activeBehavior = bController->getActiveBehaviorReference();
        bController->setActiveBehaviorListener(this);

        activeBehaviorPtr = bController->getActiveBehaviorPointer();

        setupExperiment();
}

Experiment::~Experiment()
{
        if (mkInterface) { delete mkInterface; }

        delete core;
}

void Experiment::setupExperiment()
{
        // load Behaviors
        ground = bController->getSystemBehavior("tk_behavior/Ground");
        hover = bController->getSystemBehavior("tk_behavior/Hover");
        normalBreak = bController->getSystemBehavior("tk_behavior/NormalBrake");
        takeOff = bController->getSystemBehavior("tk_behavior/TakeOff");
        land = bController->getSystemBehavior("tk_behavior/Land");


        // sanity check
        if (ground.isNull() || hover.isNull() || normalBreak.isNull() || takeOff.isNull() || land.isNull()) {
                ROS_FATAL("Unable to get SystemBehavior!!!");
                //ROS_BREAK();
                ros::shutdown();
        }


        // setup takeoff
        takeOff.getOptionContainer().getOption("tTakeOffVelocity").set<double>(0.3);
        takeOff.getOptionContainer().getOption("tTakeOffDestination").set(Position3D(0.0,0.0,-1.0));
        takeOff.getOptionContainer().getOption("tTakeOffVertically").set(true);

        // done
        takeOff.setParameterInitialized(true);


        land.getOptionContainer().getOption("tLandVelocity").set<double>(0.4);
        land.getOptionContainer().getOption("tLandDestination").set(Position3D(0.0,0.0,0.0));
//      land.getOptionContainer().getOption("tLandDestinationHeight").set<double>(-0.25);
        land.setParameterInitialized(true);


        joystick = bController->loadBehavior("tk_be_common/Joystick");
        trajPlayback = bController->loadBehavior("tk_be_common/TrajPlayback");

        if ( joystick.isNull() ) {
                ROS_FATAL("Unable to load Joystick!!!");
                //ROS_BREAK();
                ros::shutdown();
        }

        // setup joystick
        joystick.getOptionContainer().getOption("tJoystickTopic").set(options.tJoystickTopic->getValue());
        joystick.setParameterInitialized(true);

        if ( trajPlayback.isNull() ) {
                ROS_FATAL("Unable to load Trajectory Playback!!!");
                //ROS_BREAK();
                ros::shutdown();
        }

        trajPlayback.getOptionContainer().getOption("tTrajectoryFilename").set(options.trajectoryFile->getValue());
        trajPlayback.setParameterInitialized(true);

        flyto1 = bController->loadBehavior("tk_be_common/LinearFlyTo");
        flyto2 = bController->loadBehavior("tk_be_common/LinearFlyTo");
        flyto3 = bController->loadBehavior("tk_be_common/LinearFlyTo");

        flyto1.getOptionContainer().getOption("tFlyToDestination").set(Position3D(0.5,0.5,-1.5));
        flyto2.getOptionContainer().getOption("tFlyToDestination").set(Position3D(0.5,-0.5,-0.5));
        flyto3.getOptionContainer().getOption("tFlyToDestination").set(Position3D(-0.5,0.0,-1.0));

        flyto1.setParameterInitialized(true);
        flyto2.setParameterInitialized(true);
        flyto3.setParameterInitialized(true);

        flyto1.setNextBehavior(flyto2);
        flyto2.setNextBehavior(flyto3);
        flyto3.setNextBehavior(flyto1);

        if (*activeBehaviorPtr != ground) {
                ROS_ERROR("UAV not in Ground Behavior during Startup");
                ros::shutdown();
        }

        // lastly start Controller
        joySub = mainNodeHandle.subscribe(options.tJoystickTopic->getValue()
                        , 10, &Experiment::joystickCB, this);
}




void Experiment::joystickCB(const sensor_msgs::Joy::ConstPtr& msg)
{
        // use button 2
        if (msg->buttons.size() < 9) {
                ROS_ERROR("Jostick does not publish enough buttons.");
                return;
        }

        // Emergency
        if (msg->buttons[6]) {
                ROS_WARN("Emergency Button pressed!");
                mkInterface->setEmergency();
        }

        // Button 1! toggle Motors for mkInterface Only in Ground
        if (mkInterface && *activeBehaviorPtr == ground && msg->buttons[0]) {
                ROS_INFO("Toggle Motorstate!");

                MKSingleValuePacket motorState(MKDataDefines::MOTOR_STATE,0);
                if (!mkInterface->updateMKValue(motorState)) {
                        ROS_ERROR("Could not get Motorstate!");
                        return;
                }

                if (motorState.value == MotorState::On) {
                        // stop
                        motorState.value = MotorState::Off;
                        mkInterface->setMKValue(motorState);
                } else if (motorState.value == MotorState::Off) {
                        // start
                        motorState.value = MotorState::Init;
                        mkInterface->setMKValue(motorState);
                } else if (motorState.value == MotorState::Init) {
                        motorState.value = MotorState::On;
                        mkInterface->setMKValue(motorState);
                }


        }

        if (msg->buttons[2]) {
                if (*activeBehaviorPtr == ground) {

                        if (mkInterface) {
                                MKSingleValuePacket motorState(MKDataDefines::MOTOR_STATE,0);
                                if (!mkInterface->updateMKValue(motorState)) {
                                        ROS_ERROR("Could not get Motorstate for liftoff!");
                                        return;
                                }
                                if (motorState.value == MotorState::On) {
                                        bController->switchBehavior(takeOff);
                                } else {
                                        ROS_ERROR("Motors have to be on for liftOff!");
                                        return;
                                }
                        }

                        // takeoff
                        bController->switchBehavior(takeOff);
                } else {
                        // flying -> land
                        bController->switchBehavior(land);
                }
        }

        if (msg->buttons[3]) {
                bController->switchBehavior(joystick);
        }

        if (msg->buttons[4]) {
                bController->switchBehavior(trajPlayback);
        }

        if (msg->buttons[1]) {
                bController->switchBehavior(flyto1);
        }

        // what to do
}

void Experiment::activeBehaviorChanged(telekyb_interface::Behavior newActiveBehavior)
{
// Automatically turn off Motors
        if (mkInterface && newActiveBehavior == ground) {
                MKSingleValuePacket motorState(MKDataDefines::MOTOR_STATE,0);
                motorState.value = MotorState::Off;
                mkInterface->setMKValue(motorState);
        }
}