00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2012, Willow Garage, Inc. 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 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Ioan Sucan */ 00036 00037 #ifndef MOVEIT_MOVEIT_CONTROLLER_MANAGER_ 00038 #define MOVEIT_MOVEIT_CONTROLLER_MANAGER_ 00039 00040 #include <vector> 00041 #include <string> 00042 #include <boost/shared_ptr.hpp> 00043 #include <moveit_msgs/RobotTrajectory.h> 00044 #include <moveit/macros/class_forward.h> 00045 00047 namespace moveit_controller_manager 00048 { 00050 struct ExecutionStatus 00051 { 00052 enum Value 00053 { 00054 UNKNOWN, 00055 RUNNING, 00056 SUCCEEDED, 00057 PREEMPTED, 00058 TIMED_OUT, 00059 ABORTED, 00060 FAILED 00061 }; 00062 00063 ExecutionStatus(Value value = UNKNOWN) : status_(value) 00064 { 00065 } 00066 00067 operator Value() const 00068 { 00069 return status_; 00070 } 00071 00072 operator bool() const 00073 { 00074 return status_ == SUCCEEDED; 00075 } 00076 00078 std::string asString() const 00079 { 00080 switch (status_) 00081 { 00082 case RUNNING: 00083 return "RUNNING"; 00084 case SUCCEEDED: 00085 return "SUCCEEDED"; 00086 case PREEMPTED: 00087 return "PREEMPTED"; 00088 case TIMED_OUT: 00089 return "TIMED_OUT"; 00090 case ABORTED: 00091 return "ABORTED"; 00092 case FAILED: 00093 return "FAILED"; 00094 default: 00095 return "UNKNOWN"; 00096 } 00097 } 00098 00099 private: 00100 Value status_; 00101 }; 00102 00103 MOVEIT_CLASS_FORWARD(MoveItControllerHandle); 00104 00106 class MoveItControllerHandle 00107 { 00108 public: 00110 MoveItControllerHandle(const std::string& name) : name_(name) 00111 { 00112 } 00113 00114 virtual ~MoveItControllerHandle() 00115 { 00116 } 00117 00119 const std::string& getName() const 00120 { 00121 return name_; 00122 } 00123 00127 virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory& trajectory) = 0; 00128 00131 virtual bool cancelExecution() = 0; 00132 00136 virtual bool waitForExecution(const ros::Duration& timeout = ros::Duration(0)) = 0; 00137 00139 virtual ExecutionStatus getLastExecutionStatus() = 0; 00140 00141 protected: 00142 std::string name_; 00143 }; 00144 00145 MOVEIT_CLASS_FORWARD(MoveItControllerManager); 00146 00154 class MoveItControllerManager 00155 { 00156 public: 00159 struct ControllerState 00160 { 00161 ControllerState() : active_(false), default_(false) 00162 { 00163 } 00164 00167 bool active_; 00168 00172 bool default_; 00173 }; 00174 00176 MoveItControllerManager() 00177 { 00178 } 00179 00180 virtual ~MoveItControllerManager() 00181 { 00182 } 00183 00186 virtual MoveItControllerHandlePtr getControllerHandle(const std::string& name) = 0; 00187 00189 virtual void getControllersList(std::vector<std::string>& names) = 0; 00190 00194 virtual void getActiveControllers(std::vector<std::string>& names) = 0; 00195 00198 virtual void getControllerJoints(const std::string& name, std::vector<std::string>& joints) = 0; 00199 00201 virtual ControllerState getControllerState(const std::string& name) = 0; 00202 00204 virtual bool switchControllers(const std::vector<std::string>& activate, 00205 const std::vector<std::string>& deactivate) = 0; 00206 }; 00207 } 00208 00209 #endif