fs100_joint_trajectory_streamer.h

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#ifndef FS100_JOINT_TRAJECTORY_STREAMER_H
#define FS100_JOINT_TRAJECTORY_STREAMER_H

#include "fs100/fs100_motion_ctrl.h"
#include "fs100/industrial_robot_client/joint_trajectory_streamer.h"
#include "simple_message/joint_data.h"
#include "simple_message/simple_message.h"

namespace motoman
{
namespace fs100_joint_trajectory_streamer
{

using motoman::fs100_motion_ctrl::FS100_MotionCtrl;
using industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer;
using industrial::simple_message::SimpleMessage;
using industrial::smpl_msg_connection::SmplMsgConnection;

//* JointTrajectoryStreamer
class FS100_JointTrajectoryStreamer : public JointTrajectoryStreamer
{

public:

  // since this class overrides some base-class methods,
  // these statements help find the base-class versions
  using JointTrajectoryStreamer::init;
  using JointTrajectoryInterface::is_valid;

  FS100_JointTrajectoryStreamer(int robot_id=-1) : JointTrajectoryStreamer(1),
                                                  robot_id_(robot_id) {}

  ~FS100_JointTrajectoryStreamer();

  virtual bool init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names,
                    const std::map<std::string, double> &velocity_limits = std::map<std::string, double>());

  virtual bool create_message(int seq, const trajectory_msgs::JointTrajectoryPoint &pt, SimpleMessage* msg);

  virtual bool send_to_robot(const std::vector<SimpleMessage>& messages);

  virtual void streamingThread();

protected:
  static const double pos_stale_time_ = 1.0;  // max time since last "current position" update, for validation (sec)
  static const double start_pos_tol_  = 1e-4; // max difference btwn start & current position, for validation (rad)

  int robot_id_;
  FS100_MotionCtrl motion_ctrl_;

  void trajectoryStop();
  bool is_valid(const trajectory_msgs::JointTrajectory &traj);

  static bool VectorToJointData(const std::vector<double> &vec,
                                industrial::joint_data::JointData &joints);
};

} //fs100_joint_trajectory_streamer
} //motoman

#endif /* FS100_JOINT_TRAJECTORY_STREAMER_H */