step_controller_plugin.h

Go to the documentation of this file.

//=================================================================================================
// Copyright (c) 2018, Alexander Stumpf, TU Darmstadt
// All rights reserved.

// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//     * Redistributions of source code must retain the above copyright
//       notice, this list of conditions and the following disclaimer.
//     * Redistributions in binary form must reproduce the above copyright
//       notice, this list of conditions and the following disclaimer in the
//       documentation and/or other materials provided with the distribution.
//     * Neither the name of the Simulation, Systems Optimization and Robotics
//       group, TU Darmstadt nor the names of its contributors may be used to
//       endorse or promote products derived from this software without
//       specific prior written permission.

// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#ifndef STEP_CONTROLLER_PLUGIN_H__
#define STEP_CONTROLLER_PLUGIN_H__

#include <ros/ros.h>

#include <vigir_pluginlib/plugin.h>

#include <vigir_footstep_planning_plugins/plugins/step_plan_msg_plugin.h>

#include <vigir_step_control/step_queue.h>



namespace vigir_step_control
{
using namespace vigir_footstep_planning_msgs;

enum StepControllerState
{
  NOT_READY = msgs::ExecuteStepPlanFeedback::NOT_READY,
  READY     = msgs::ExecuteStepPlanFeedback::READY,
  ACTIVE    = msgs::ExecuteStepPlanFeedback::ACTIVE,
  PAUSED    = msgs::ExecuteStepPlanFeedback::PAUSED,
  FINISHED  = msgs::ExecuteStepPlanFeedback::FINISHED,
  FAILED    = msgs::ExecuteStepPlanFeedback::FAILED
};

std::string toString(const StepControllerState& state);


class StepControllerPlugin
  : public vigir_pluginlib::Plugin
{
public:
  // typedefs
  typedef boost::shared_ptr<StepControllerPlugin> Ptr;
  typedef boost::shared_ptr<const StepControllerPlugin> ConstPtr;

  StepControllerPlugin();
  virtual ~StepControllerPlugin();

  virtual void setStepPlanMsgPlugin(vigir_footstep_planning::StepPlanMsgPlugin::Ptr plugin);

  StepControllerState getState() const;

  int getNextStepIndexNeeded() const;

  int getLastStepIndexSent() const;

  const msgs::ExecuteStepPlanFeedback& getFeedbackState() const;

  void updateQueueFeedback();

  virtual bool updateStepPlan(const msgs::StepPlan& step_plan);

  virtual void initWalk() = 0;

  virtual void preProcess(const ros::TimerEvent& event);

  virtual void process(const ros::TimerEvent& event);

  virtual void postProcess(const ros::TimerEvent& event);

  virtual bool executeStep(const msgs::Step& step) = 0;

  virtual void stop();

protected:
  virtual void reset();

  void setState(StepControllerState state);

  void setNextStepIndexNeeded(int index);

  void setLastStepIndexSent(int index);

  void setFeedbackState(const msgs::ExecuteStepPlanFeedback& feedback);

  StepQueue::Ptr step_queue_;

  vigir_footstep_planning::StepPlanMsgPlugin::Ptr step_plan_msg_plugin_;

  // mutex to ensure thread safeness
  mutable boost::shared_mutex plugin_mutex_;

private:
  // current state of walk controller
  StepControllerState state_;

  // next step index needed by walk engine
  int next_step_index_needed_;

  // last step index sent to walk engine
  int last_step_index_sent_;

  // contains current feedback state; should be updated in each cycle
  msgs::ExecuteStepPlanFeedback feedback_state_;
};
}

#endif