joint_relay_handler.cpp

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#include <dx100/joint_relay_handler.h>
#include "simple_message/messages/joint_message.h"
#include "simple_message/log_wrapper.h"


using namespace industrial::joint_message;
using namespace industrial::simple_message;
using namespace industrial::shared_types;

namespace motoman
{
namespace joint_relay_handler
{

JointRelayHandler::JointRelayHandler(ros::NodeHandle &n) :
        joint_control_state_(),
        node_(n)
{

  this->pub_joint_control_state_ =
          this->node_.advertise<control_msgs::FollowJointTrajectoryFeedback>("feedback_states", 1);

  this->pub_joint_sensor_state_ = this->node_.advertise<sensor_msgs::JointState>("joint_states",1);

  // Set up the default joint names (TODO: This should be made more generic.  The
  // joint names can have an arbitrary prefix that isn't accounted for here.  This
  // info can be found in the URDF, but I don't know how to get it here.
  this->joint_control_state_.joint_names.push_back("joint_s");
  this->joint_control_state_.joint_names.push_back("joint_l");
  this->joint_control_state_.joint_names.push_back("joint_e");
  this->joint_control_state_.joint_names.push_back("joint_u");
  this->joint_control_state_.joint_names.push_back("joint_r");
  this->joint_control_state_.joint_names.push_back("joint_b");
  this->joint_control_state_.joint_names.push_back("joint_t");
  // TODO: Again, this should be more generic.
  this->joint_control_state_.actual.positions.resize(NUM_OF_JOINTS_);
  this->joint_control_state_.desired.positions.resize(NUM_OF_JOINTS_);
  this->joint_control_state_.error.positions.resize(NUM_OF_JOINTS_);

  // Copy from control state to sensor state
  this->joint_sensor_state_.name = this->joint_control_state_.joint_names;
  this->joint_sensor_state_.position.resize(NUM_OF_JOINTS_);
  this->joint_sensor_state_.velocity.resize(NUM_OF_JOINTS_);
  this->joint_sensor_state_.effort.resize(NUM_OF_JOINTS_);
}

bool JointRelayHandler::init(industrial::smpl_msg_connection::SmplMsgConnection* connection)
{
  return this->init(StandardMsgTypes::JOINT, connection);
}

bool JointRelayHandler::internalCB(industrial::simple_message::SimpleMessage & in)
{
  bool rtn = false;
  JointMessage joint;
  SimpleMessage msg;

  if (joint.init(in))
  {
    shared_real value;
    for(int i =0; i < NUM_OF_JOINTS_; i++)
    {
      if (joint.getJoints().getJoint(i, value))
      {
        this->joint_control_state_.actual.positions[i] = value;
        this->joint_sensor_state_.position[i] = value;
      }
      else
      {
        this->joint_control_state_.actual.positions[i] = 0.0;
        LOG_ERROR("Failed to populate ith(%d) of controller state message", i);
      }
      // TODO: For now these values are not populated
      this->joint_control_state_.desired.positions[i] = 0.0;
      this->joint_control_state_.error.positions[i] = 0.0;
    }
    this->joint_control_state_.header.stamp = ros::Time::now();
    this->pub_joint_control_state_.publish(this->joint_control_state_);

    this->joint_sensor_state_.header.stamp = ros::Time::now();
    this->pub_joint_sensor_state_.publish(this->joint_sensor_state_);

    // Reply back to the controller if the sender requested it.
    if (CommTypes::SERVICE_REQUEST == in.getMessageType())
    {
      joint.toReply(msg, ReplyTypes::SUCCESS);
    }
  }
  else
  {
    LOG_ERROR("Failed to initialize joint message");
    rtn = false;
  }

  return rtn;
}



}//namespace ping_handler
}//namespace industrial