checkout_controller.h

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// Author: Kevin Watts

#ifndef _JOINT_QUALIFICATION_CONTROLLERS_CHECKOUT_CONTROLLER_H_
#define _JOINT_QUALIFICATION_CONTROLLERS_CHECKOUT_CONTROLLER_H_

/***************************************************/
/***************************************************/

#include "ros/ros.h"
#include <string>
#include <math.h>
#include <boost/scoped_ptr.hpp>
#include "joint_qualification_controllers/RobotData.h"
#include "realtime_tools/realtime_publisher.h"
#include "pr2_controller_interface/controller.h"


namespace joint_qualification_controllers
{


/***************************************************/
/***************************************************/

class CheckoutController : public pr2_controller_interface::Controller
{

public:
  enum { STARTING, LISTENING, ANALYZING, DONE};

  CheckoutController();
  ~CheckoutController() { }

  bool init( pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);

  void starting();
  
  void update();

  bool sendData();

  void analysis(double time, bool timeout = false);


private:
  pr2_mechanism_model::RobotState *robot_;   
  ros::Time initial_time_;  
  double timeout_;

  joint_qualification_controllers::RobotData robot_data_;
  
  int state_;

  int joint_count_;
  int actuator_count_;

  bool done() { return state_ == DONE; }

  bool data_sent_;

  double last_publish_time_;

  // RT service call
  boost::scoped_ptr<realtime_tools::RealtimePublisher<
                      joint_qualification_controllers::RobotData> > robot_data_pub_;
};



}


#endif //  _JOINT_QUALIFICATION_CONTROLLERS_CHECKOUT_CONTROLLER_H_