controller_manager.h

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/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVEIT_CONTROLLER_MANAGER_
#define MOVEIT_MOVEIT_CONTROLLER_MANAGER_

#include <vector>
#include <string>
#include <boost/shared_ptr.hpp>
#include <moveit_msgs/RobotTrajectory.h>

namespace moveit_controller_manager
{

struct ExecutionStatus
{
  enum Value
    {
      UNKNOWN, RUNNING, SUCCEEDED, PREEMPTED, TIMED_OUT, ABORTED, FAILED
    };

  ExecutionStatus(Value value = UNKNOWN) : status_(value)
  {
  }

  operator Value() const
  {
    return status_;
  }

  operator bool() const
  {
    return status_ == SUCCEEDED;
  }

  std::string asString() const
  {
    switch (status_)
    {
    case RUNNING:
      return "RUNNING";
    case SUCCEEDED:
      return "SUCCEEDED";
    case PREEMPTED:
      return "PREEMPTED";
    case TIMED_OUT:
      return "TIMED_OUT";
    case ABORTED:
      return "ABORTED";
    case FAILED:
      return "FAILED";
    default:
      return "UNKNOWN";
    }
  }
private:
  Value status_;
};

class MoveItControllerHandle
{
public:

  MoveItControllerHandle(const std::string &name) : name_(name)
  {
  }

  virtual ~MoveItControllerHandle()
  {
  }

  const std::string& getName() const
  {
    return name_;
  }

  virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory &trajectory) = 0;

  virtual bool cancelExecution() = 0;

  virtual bool waitForExecution(const ros::Duration &timeout = ros::Duration(0)) = 0;

  virtual ExecutionStatus getLastExecutionStatus() = 0;

protected:

  std::string name_;

};

typedef boost::shared_ptr<MoveItControllerHandle> MoveItControllerHandlePtr;
typedef boost::shared_ptr<const MoveItControllerHandle> MoveItControllerHandleConstPtr;

class MoveItControllerManager
{
public:

  struct ControllerState
  {
    ControllerState() : active_(false),
                        default_(false)
    {
    }

    bool active_;

    bool default_;
  };

  MoveItControllerManager()
  {
  }

  virtual ~MoveItControllerManager()
  {
  }

  virtual MoveItControllerHandlePtr getControllerHandle(const std::string &name) = 0;

  virtual void getControllersList(std::vector<std::string> &names) = 0;

  virtual void getActiveControllers(std::vector<std::string> &names) = 0;

  virtual void getControllerJoints(const std::string &name, std::vector<std::string> &joints) = 0;

  virtual ControllerState getControllerState(const std::string &name) = 0;

  virtual bool switchControllers(const std::vector<std::string> &activate, const std::vector<std::string> &deactivate) = 0;
};

typedef boost::shared_ptr<MoveItControllerManager> MoveItControllerManagerPtr;
typedef boost::shared_ptr<const MoveItControllerManager> MoveItControllerManagerConstPtr;

}

#endif