00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2011, 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 "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::joint_traj_pt_message::JointTrajPtMessage; 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<JointTrajPtMessage>* msgs); 00101 00102 void streamingThread(); 00103 00104 bool send_to_robot(const std::vector<JointTrajPtMessage>& 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<JointTrajPtMessage> 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 */