MKROSInterface.hpp

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/*
 * MKROSInterface.hpp
 *
 *  Created on: Nov 29, 2011
 *      Author: mriedel
 */

#ifndef MKROSINTERFACE_HPP_
#define MKROSINTERFACE_HPP_

#include <telekyb_defines/telekyb_defines.hpp>

#include <tk_mkinterface/MKROSInterfaceOptions.hpp>
#include <tk_mkinterface/MKData.hpp>

#include <ros/ros.h>

#include <telekyb_srvs/StringOutput.h>
#include <telekyb_srvs/IntArrayInput.h>
#include <telekyb_srvs/MKValueInputOutput.h>
#include <std_srvs/Empty.h>

#include <telekyb_msgs/TKCommands.h>
#include <telekyb_msgs/MKValue.h>
#include <telekyb_msgs/MKValues.h>

namespace TELEKYB_NAMESPACE {

// Forward Definition
class MKInterface;


class MKROSInterface : public MKDataListener {
protected:
        MKROSInterfaceOptions options;

        MKInterface& mkInterface; // Object that we interface to ROS

        int robotID;

        ros::NodeHandle mainNodeHandle; // Programs main Nodehandle
        ros::NodeHandle robotIDNodeHandle;

        // BatteryTimer
        ros::Timer batteryTimer;
        void batteryTimerCB(const ros::TimerEvent& event);

        void setupServices();

        ros::ServiceServer getMainMKNodeHandle;

        // Sync
        ros::ServiceServer setActiveDataIDs;
        ros::ServiceServer setMKValue;
        ros::ServiceServer updateMKValue;
        ros::ServiceServer doDriftEstim;
        ros::ServiceServer setEmergency;

        // Async with Messages?
        bool getMainMKNodeHandleCB(
                        telekyb_srvs::StringOutput::Request& request,
                        telekyb_srvs::StringOutput::Response& response);

        bool setActiveDataIDsCB(
                        telekyb_srvs::IntArrayInput::Request& request,
                        telekyb_srvs::IntArrayInput::Response& response);

        bool setMKValueCB(
                        telekyb_srvs::MKValueInputOutput::Request& request,
                        telekyb_srvs::MKValueInputOutput::Response& response);

        bool updateMKValueCB(
                        telekyb_srvs::MKValueInputOutput::Request& request,
                        telekyb_srvs::MKValueInputOutput::Response& response);

        bool doDriftEstimCB(
                        std_srvs::Empty::Request& request,
                        std_srvs::Empty::Response& response);

        bool setEmergencyCB(
                        std_srvs::Empty::Request& request,
                        std_srvs::Empty::Response& response);


        ros::Subscriber commandsSub;
        void commandsCB(const telekyb_msgs::TKCommands::ConstPtr& msg);

        // Async Values
        ros::Subscriber setMKValueAsyncSub;
        ros::Subscriber updateMKValueAsyncSub;
        void setMKValueAsyncCB(const telekyb_msgs::MKValue::ConstPtr& msg);
        void updateMKValueAsyncCB(const telekyb_msgs::MKValue::ConstPtr& msg);


        // MKValue Publisher
        telekyb_msgs::MKValues mkDataMirror;
        void setupMKDataMirror();

        ros::Publisher mkValuePublisher;
        ros::Publisher mkValueArrayPublisher;


public:
        MKROSInterface(MKInterface& mkInterface_, int robotID_);
        virtual ~MKROSInterface();

        void dataValueUpdated(MKValue* value);

        void activateCommandsCB();
        void deActiavteCommandsCB();

};

} /* namespace telekyb */
#endif /* MKROSINTERFACE_HPP_ */