base_action.h

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//=================================================================================================
// Copyright (c) 2012-2016, Institute of Flight Systems and Automatic Control,
// Technische Universität Darmstadt.
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#ifndef HECTOR_QUADROTOR_ACTIONS_BASE_ACTION_H
#define HECTOR_QUADROTOR_ACTIONS_BASE_ACTION_H

#include <ros/ros.h>
#include <actionlib/server/simple_action_server.h>
#include <hector_quadrotor_interface/helpers.h>
#include "geometry_msgs/PoseStamped.h"
#include <hector_uav_msgs/EnableMotors.h>

namespace hector_quadrotor_actions
{

template <class ActionSpec>
class BaseActionServer
{
public:

  typedef typename actionlib::SimpleActionServer<ActionSpec> ActionServer;

  BaseActionServer(ros::NodeHandle nh, std::string server_name, typename ActionServer::ExecuteCallback callback)
      : pose_sub_(nh, "pose"),
        as_(boost::make_shared<ActionServer>(nh, server_name, callback, false))
  {
    nh.param<double>("connection_timeout", connection_timeout_, 10.0);

    server_name_ = nh.resolveName(server_name);

    motor_enable_service_ = nh.serviceClient<hector_uav_msgs::EnableMotors>("enable_motors");
    if(!motor_enable_service_.waitForExistence()){
      ROS_ERROR_STREAM("Could not connect to " << nh.resolveName("enable_motors"));
    }

    start_timer_ = nh.createTimer(ros::Duration(0.1), boost::bind(&BaseActionServer::startCb, this));
  }

  /*
   * Guaranteed to be available after server has started
   */
  geometry_msgs::PoseStampedConstPtr getPose()
  {
    return pose_sub_.get();
  }

  boost::shared_ptr<ActionServer> get() { return as_; };

  bool enableMotors(bool enable)
  {
    hector_uav_msgs::EnableMotors srv;
    srv.request.enable = enable;
    return motor_enable_service_.call(srv);
  }

private:

  void startCb()
  {
    if (!pose_sub_.get())
    {
      ROS_INFO_STREAM_THROTTLE(1.0, "Waiting for position state to be available before starting " << server_name_ <<
                                                                                                     " server");
    }
    else
    {
      as_->start();
      ROS_INFO_STREAM("Server " << server_name_ << " started");
      start_timer_.stop();
    }
  }

  boost::shared_ptr<ActionServer> as_;

  std::string server_name_;
  ros::Timer start_timer_;
  hector_quadrotor_interface::PoseSubscriberHelper pose_sub_;
  ros::ServiceClient motor_enable_service_;

  double connection_timeout_;

};

}

#endif //HECTOR_QUADROTOR_ACTIONS_BASE_ACTION_H