step_controller.h

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//=================================================================================================
// Copyright (c) 2017, 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
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// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY
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// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
//=================================================================================================

#ifndef STEP_CONTROLLER_H__
#define STEP_CONTROLLER_H__

#include <ros/ros.h>

#include <actionlib/server/simple_action_server.h>

#include <vigir_pluginlib/plugin_manager.h>

#include <vigir_footstep_planning_msgs/footstep_planning_msgs.h>
#include <vigir_footstep_planning_plugins/plugins/step_plan_msg_plugin.h>

#include <vigir_step_control/step_controller_plugin.h>



namespace vigir_step_control
{
using namespace vigir_footstep_planning_msgs;

typedef actionlib::SimpleActionServer<msgs::ExecuteStepPlanAction> ExecuteStepPlanActionServer;
typedef boost::shared_ptr<ExecuteStepPlanActionServer> ExecuteStepPlanActionServerPtr;

class StepController
{
public:
  // typedefs
  typedef boost::shared_ptr<StepController> Ptr;
  typedef boost::shared_ptr<const StepController> ConstPtr;

  StepController(ros::NodeHandle& nh, bool auto_spin = true);
  virtual ~StepController();

  template<typename T>
  void loadPlugin(const std::string& plugin_name, boost::shared_ptr<T>& plugin)
  {
    boost::unique_lock<boost::shared_mutex> lock(controller_mutex_);

    if (step_controller_plugin_ && step_controller_plugin_->getState() == ACTIVE)
    {
      ROS_ERROR("[StepController] Cannot replace plugin due to active footstep execution!");
      return;
    }

    if (!vigir_pluginlib::PluginManager::addPluginByName(plugin_name))
    {
      ROS_ERROR("[StepController] Could not load plugin '%s'!", plugin_name.c_str());
      return;
    }
    else if (!vigir_pluginlib::PluginManager::getPlugin(plugin))
    {
      ROS_ERROR("[StepController] Could not obtain plugin '%s' from plugin manager!", plugin_name.c_str());
      return;
    }
    else
      ROS_INFO("[StepController] Loaded plugin '%s'.", plugin_name.c_str());
  }

  void executeStepPlan(const msgs::StepPlan& step_plan);

  void update(const ros::TimerEvent& event = ros::TimerEvent());

protected:
  void publishFeedback() const;

  vigir_footstep_planning::StepPlanMsgPlugin::Ptr step_plan_msg_plugin_;
  StepControllerPlugin::Ptr step_controller_plugin_;

  // mutex to ensure thread safeness
  boost::shared_mutex controller_mutex_;


  // subscriber
  void loadStepPlanMsgPlugin(const std_msgs::StringConstPtr& plugin_name);
  void loadStepControllerPlugin(const std_msgs::StringConstPtr& plugin_name);
  void executeStepPlan(const msgs::StepPlanConstPtr& step_plan);

  // action server calls
  void executeStepPlanAction(ExecuteStepPlanActionServerPtr& as);
  void executePreemptionAction(ExecuteStepPlanActionServerPtr& as);

  // subscriber
  ros::Subscriber load_step_plan_msg_plugin_sub_;
  ros::Subscriber load_step_controller_plugin_sub_;
  ros::Subscriber execute_step_plan_sub_;

  // publisher
  ros::Publisher planning_feedback_pub_;

  // action servers
  boost::shared_ptr<ExecuteStepPlanActionServer> execute_step_plan_as_;

  // timer for updating periodically
  ros::Timer update_timer_;
};
}

#endif