joint_trajectory_streamer.h
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2013, Southwest Research Institute
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *       * Redistributions of source code must retain the above copyright
00011  *       notice, this list of conditions and the following disclaimer.
00012  *       * Redistributions in binary form must reproduce the above copyright
00013  *       notice, this list of conditions and the following disclaimer in the
00014  *       documentation and/or other materials provided with the distribution.
00015  *       * Neither the name of the Southwest Research Institute, nor the names
00016  *       of its contributors may be used to endorse or promote products derived
00017  *       from this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 #ifndef JOINT_TRAJECTORY_STREAMER_H
00033 #define JOINT_TRAJECTORY_STREAMER_H
00034 
00035 #include <boost/thread/thread.hpp>
00036 #include "fs100/industrial_robot_client/joint_trajectory_interface.h"
00037 
00038 namespace industrial_robot_client
00039 {
00040 namespace joint_trajectory_streamer
00041 {
00042 
00043 using industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface;
00044 using industrial::simple_message::SimpleMessage;
00045 using industrial::smpl_msg_connection::SmplMsgConnection;
00046 
00047 namespace TransferStates
00048 {
00049 enum TransferState
00050 {
00051   IDLE = 0, STREAMING =1 //,STARTING, //, STOPPING
00052 };
00053 }
00054 typedef TransferStates::TransferState TransferState;
00055 
00060 //* JointTrajectoryStreamer
00066 class JointTrajectoryStreamer : public JointTrajectoryInterface
00067 {
00068 
00069 public:
00070 
00071   // since this class defines a different init(), this helps find the base-class init()
00072   using JointTrajectoryInterface::init;
00073 
00079   JointTrajectoryStreamer(int min_buffer_size = 1) : min_buffer_size_(min_buffer_size) {};
00080 
00093   virtual bool init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names,
00094                     const std::map<std::string, double> &velocity_limits = std::map<std::string, double>());
00095 
00096   ~JointTrajectoryStreamer();
00097 
00098   virtual void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);
00099 
00100   virtual bool trajectory_to_msgs(const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector<SimpleMessage>* msgs);
00101 
00102   virtual void streamingThread();
00103 
00104   bool send_to_robot(const std::vector<SimpleMessage>& messages);
00105 
00106 protected:
00107 
00108   void trajectoryStop();
00109 
00110   boost::thread* streaming_thread_;
00111   boost::mutex mutex_;
00112   int current_point_;
00113   std::vector<SimpleMessage> current_traj_;
00114   TransferState state_;
00115   ros::Time streaming_start_;
00116   int min_buffer_size_;
00117 };
00118 
00119 } //joint_trajectory_streamer
00120 } //industrial_robot_client
00121 
00122 #endif /* JOINT_TRAJECTORY_STREAMER_H */
 All Classes Namespaces Files Functions Variables Typedefs Enumerations Enumerator Properties Friends Defines


fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:14