Program Listing for File remote_control.hpp
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// Copyright 2021 PickNik Inc.
//
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// 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 PickNik Inc. 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
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/* Author: Dave Coleman <dave@picknik.ai>
Desc: Tool for creating break points and user verification points through
manipulation pipelines or other live robotic tool.
Think GDB for robots, or like, a state machine.
*/
#pragma once
// C++
#include <chrono>
#include <string>
#include <mutex>
#include <condition_variable>
// ROS
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joy.hpp>
#include <utility>
namespace rviz_visual_tools
{
typedef std::function<void(bool)> DisplayWaitingState;
class RemoteControl
{
public:
[[deprecated("RemoteControl(const rclcpp::Executor::SharedPtr&, const rclcpp::NodeOptions&) is "
"deprecated Use RemoteControl(const rclcpp::NodeOptions&) constructor "
"instead")]] explicit RemoteControl(const rclcpp::Executor::SharedPtr& executor,
const rclcpp::NodeOptions& node_options)
: RemoteControl(std::make_shared<rclcpp::Node>("remote_control", node_options))
{
}
template <typename NodePtr>
explicit RemoteControl(NodePtr node)
: RemoteControl(node->get_node_base_interface(), node->get_node_topics_interface(),
node->get_node_logging_interface())
{
}
explicit RemoteControl(
const rclcpp::node_interfaces::NodeBaseInterface::SharedPtr& node_base_interface,
const rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr& topics_interface,
const rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr& logging_interface);
void rvizDashboardCallback(const sensor_msgs::msg::Joy::ConstSharedPtr msg); // NOLINT
bool getAutonomous();
bool getFullAutonomous();
bool getStop();
bool waitForNextStep(const std::string& caption = "go to next step");
bool waitForNextFullStep(const std::string& caption = "go to next full step");
void setDisplayWaitingState(DisplayWaitingState displayWaitingState)
{
displayWaitingState_ = std::move(displayWaitingState);
}
private:
void setReadyForNextStep();
void setAutonomous();
void setFullAutonomous();
void stopAllAutonomous();
bool waitForNextStepCommon(const std::string& caption, bool autonomous);
// Node Interfaces
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface_;
rclcpp::Logger logger_;
// Short name for this class
std::string name_ = "remote_control";
// Input
rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr rviz_dashboard_sub_;
bool is_waiting_ = false;
bool next_step_ready_ = false;
bool autonomous_ = false;
bool full_autonomous_ = false;
std::mutex mutex_;
std::condition_variable wait_next_step_;
// Callback to visualize waiting state
DisplayWaitingState displayWaitingState_;
}; // end class
typedef std::shared_ptr<RemoteControl> RemoteControlPtr;
typedef std::shared_ptr<const RemoteControl> RemoteControlConstPtr;
} // namespace rviz_visual_tools