RSMControls.cpp

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#include "RSMControls.h"

namespace rsm {

RSMControlPanel::RSMControlPanel() :
                rqt_gui_cpp::Plugin(), _widget_main(NULL), _gui(NULL) {
        setObjectName("RSM Controls");
}

RSMControlPanel::~RSMControlPanel() {
}

void RSMControlPanel::initPlugin(qt_gui_cpp::PluginContext& context) {
        QStringList argv = context.argv();
        _gui = new Ui::rsm_controls;
        _widget_main = new QWidget();
        _gui->setupUi(_widget_main);
        context.addWidget(_widget_main);
        initCommunications();
        connectSlots();
        _operation_mode_button_pushed = false;
        _exploration_running = false;
        _waypoint_following_running = false;
        _emergency_stop_active = false;
        _operation_mode = rsm_msgs::OperationMode::STOPPED;
        initRoutineComboBox();
        getStateInfo();
}

void RSMControlPanel::initCommunications() {
        ros::NodeHandle nh("rsm");
        _start_stop_exploration_client = nh.serviceClient<std_srvs::SetBool>(
                        "startStopExploration");
        _set_exploration_mode_client = nh.serviceClient<std_srvs::SetBool>(
                        "setExplorationMode");

        _start_stop_waypoint_following_client = nh.serviceClient<std_srvs::SetBool>(
                        "startStopWaypointFollowing");
        _waypoint_reset_client = nh.serviceClient<std_srvs::Trigger>(
                        "resetWaypoints");
        _set_waypoint_following_mode_client = nh.serviceClient<
                        rsm_msgs::SetWaypointFollowingMode>("setWaypointFollowingMode");

        _state_info_subscriber = nh.subscribe("stateInfo", 10,
                        &RSMControlPanel::stateInfoCallback, this);
        _state_info_client = nh.serviceClient<std_srvs::Trigger>("stateInfo");
        _set_operation_mode_client = nh.serviceClient<rsm_msgs::SetOperationMode>(
                        "setOperationMode");
        _operation_mode_subcriber = nh.subscribe<rsm_msgs::OperationMode>(
                        "operationMode", 1, &RSMControlPanel::operationModeCallback, this);

        _set_reverse_mode_client = nh.serviceClient<std_srvs::SetBool>(
                        "setReverseMode");
        _reverse_mode_subscriber = nh.subscribe<std_msgs::Bool>("reverseMode", 10,
                        &RSMControlPanel::reverseModeCallback, this);
        _stop_2d_nav_goal_client = nh.serviceClient<std_srvs::Trigger>(
                        "stop2DNavGoal");

        _add_waypoint_client = nh.serviceClient<rsm_msgs::AddWaypoint>(
                        "addWaypoint");
        _get_waypoint_routines_client = nh.serviceClient<
                        rsm_msgs::GetWaypointRoutines>("getWaypointRoutines");

        _get_robot_pose_client = nh.serviceClient<rsm_msgs::GetRobotPose>(
                        "getRobotPose");
}

void RSMControlPanel::connectSlots() {
connect(_gui->start_exploration_button, SIGNAL(clicked(bool)), this, SLOT(startStopExploration()));

connect(_gui->start_waypoint_following_button, SIGNAL(clicked(bool)), this, SLOT(startStopWaypointFollowing()));
connect(_gui->reset_waypoints_button, SIGNAL(clicked(bool)), this, SLOT(resetWaypoints()));

connect(_gui->set_waypoint_button, SIGNAL(clicked(bool)), this, SLOT(addWaypoint()));

connect(_gui->reverse_checkbox, SIGNAL(clicked(bool)), this, SLOT(setReverseMode()));

connect(_gui->emergency_stop_button, SIGNAL(clicked(bool)), this, SLOT(emergencyStop()));
connect(_gui->stopped_radio_button, SIGNAL(clicked(bool)), this, SLOT(stopOperation()));
connect(_gui->autonomy_radio_button, SIGNAL(clicked(bool)), this, SLOT(setAutonomyOperation()));
connect(_gui->teleoperation_radio_button, SIGNAL(clicked(bool)), this, SLOT(setTeleoperation()));

connect(_gui->stop_2d_nav_goal_button, SIGNAL(clicked(bool)), this, SLOT(stop2dNavGoal()));
}

void RSMControlPanel::startStopExploration() {
std_srvs::SetBool srv;
if (_exploration_running) {
        srv.request.data = false;
} else {
        srv.request.data = true;
}
if (_start_stop_exploration_client.call(srv)) {
        //ROS_INFO("State was changed: %s -> message: %s",      srv.response.success ? "true" : "false", srv.response.message.c_str()   );
        if (srv.response.success) {
                if (_exploration_running) {
                        _gui->start_exploration_button->setText("Start");
                        _exploration_running = false;
                        _gui->exploration_info_text->setText("Exploration stopped");
                        _gui->exploration_mode_box->setEnabled(true);
                } else {
                        _gui->start_exploration_button->setText("Stop");
                        _exploration_running = true;
                        _gui->exploration_info_text->setText("Exploration running");
                        setExplorationMode();
                        _gui->exploration_mode_box->setEnabled(false);
                }
        } else {
                QString text = QString("Call unsuccessful: %1").arg(
                                srv.response.message.c_str());
                _gui->exploration_info_text->setText(text);
        }
} else {
        ROS_ERROR("Failed to call service Start/Stop Exploration");
        _gui->exploration_info_text->setText("Exploration service not available");
}
}

void RSMControlPanel::startStopWaypointFollowing() {
std_srvs::SetBool srv;
if (_waypoint_following_running) {
        srv.request.data = false;
} else {
        srv.request.data = true;
}
if (_start_stop_waypoint_following_client.call(srv)) {
        //ROS_INFO("State was changed: %s -> message: %s",      srv.response.success ? "true" : "false", srv.response.message.c_str()   );
        if (srv.response.success) {
                if (_waypoint_following_running) {
                        _gui->start_waypoint_following_button->setText("Start");
                        _waypoint_following_running = false;
                        _gui->waypoint_following_info_text->setText(
                                        "Waypoint following stopped");
                        _gui->reset_waypoints_button->setEnabled(true);
                        _gui->mode_box->setEnabled(true);
                } else {
                        _gui->start_waypoint_following_button->setText("Stop");
                        _waypoint_following_running = true;
                        _gui->waypoint_following_info_text->setText("Waypoint running");
                        _gui->reset_waypoints_button->setEnabled(false);
                        _gui->mode_box->setEnabled(false);
                        setWaypointFollowingMode();
                }
        } else {
                QString text = QString("Call unsuccessful: %1").arg(
                                srv.response.message.c_str());
                _gui->waypoint_following_info_text->setText(text);
        }
} else {
        ROS_ERROR("Failed to call service Start/Stop Waypoint Following");
        _gui->waypoint_following_info_text->setText(
                        "Waypoint Following service not available");
}
}

void RSMControlPanel::resetWaypoints() {
std_srvs::Trigger srv;
if (_waypoint_reset_client.call(srv)) {
        //ROS_INFO("State was changed: %s -> message: %s",      srv.response.success ? "true" : "false", srv.response.message.c_str()   );
        if (srv.response.success) {
                _gui->waypoint_following_info_text->setText("Waypoints reset");
        } else {
                QString text = QString("Reset unsuccessful: %1").arg(
                                srv.response.message.c_str());
                _gui->waypoint_following_info_text->setText(text);
        }
} else {
        ROS_ERROR("Failed to call service Reset Waypoints");
        _gui->waypoint_following_info_text->setText(
                        "Reset Waypoints service not available");
}
}

void RSMControlPanel::addWaypoint() {
rsm_msgs::GetRobotPose srv;
if (!_get_robot_pose_client.call(srv)) {
        ROS_ERROR("Failed to call Get Robot Pose service");
        _gui->waypoint_following_info_text->setText(
                        "Get Robot Pose service not available");
} else {
        rsm_msgs::AddWaypoint srv2;
        rsm_msgs::Waypoint waypoint;
        waypoint.pose = srv.response.pose;
        if (_gui->routine_combo_box->currentIndex() == 0) {
                waypoint.routine = "";
        } else {
                waypoint.routine =
                                _gui->routine_combo_box->currentText().toUtf8().constData();
        }
        srv2.request.waypoint = waypoint;
        srv2.request.position = -1;
        if (!_add_waypoint_client.call(srv2)) {
                ROS_ERROR("Failed to call Add Waypoint service");
                _gui->waypoint_following_info_text->setText(
                                "Add Waypoint service not available");
        }
}
}

void RSMControlPanel::setReverseMode() {
std_srvs::SetBool srv;
srv.request.data = !_reverse_mode;
if (_set_reverse_mode_client.call(srv)) {
        if (srv.response.success) {
                _reverse_mode = !_reverse_mode;
                _gui->reverse_checkbox->setChecked(_reverse_mode);
        } else {
                _gui->movement_label->setText("Control: Failed to change reverse mode");
        }
} else {
        ROS_ERROR("Failed to call Set Reverse Mode service");
        _gui->movement_label->setText(
                        "Control: Set Reverse Mode service not available");
}
}

void RSMControlPanel::emergencyStop() {
_emergency_stop_active = !_emergency_stop_active;
_operation_mode = rsm_msgs::OperationMode::STOPPED;
callSetOperationMode();
}

void RSMControlPanel::stopOperation() {
if (_operation_mode != rsm_msgs::OperationMode::STOPPED) {
        _operation_mode = rsm_msgs::OperationMode::STOPPED;
        callSetOperationMode();
}
}

void RSMControlPanel::setAutonomyOperation() {
if (_operation_mode != rsm_msgs::OperationMode::AUTONOMOUS) {
        _operation_mode = rsm_msgs::OperationMode::AUTONOMOUS;
        callSetOperationMode();
}
}

void RSMControlPanel::setTeleoperation() {
if (_operation_mode != rsm_msgs::OperationMode::TELEOPERATION) {
        _operation_mode = rsm_msgs::OperationMode::TELEOPERATION;
        callSetOperationMode();
}
}

void RSMControlPanel::stop2dNavGoal() {
std_srvs::Trigger srv;
if (!_stop_2d_nav_goal_client.call(srv)) {
        ROS_ERROR("Failed to call Stop 2D Nav Goal service");
        _gui->movement_label->setText(
                        "Control: Stop 2D Nav Goal service not available");
}
}

void RSMControlPanel::callSetOperationMode() {
rsm_msgs::SetOperationMode srv;
srv.request.operationMode.emergencyStop = _emergency_stop_active;
srv.request.operationMode.mode = _operation_mode;
if (_set_operation_mode_client.call(srv)) {
        updateOperationModeGUI();
        _operation_mode_button_pushed = true;
} else {
        ROS_ERROR("Failed to call service Set Operation Mode");
        _gui->control_label->setText(
                        "Control: Set Operation Mode service not available");
}
}

void RSMControlPanel::setWaypointFollowingMode() {
ROS_INFO("set waypoint following mode");
rsm_msgs::SetWaypointFollowingMode srv;
srv.request.mode = _gui->mode_box->currentIndex();
if (_set_waypoint_following_mode_client.call(srv)) {
        if (!srv.response.success) {
                QString text =
                                QString("Set Waypoint Following Mode unsuccessful: %1").arg(
                                                srv.response.message.c_str());
                _gui->waypoint_following_info_text->setText(text);
        }

} else {
        ROS_ERROR("Failed to call service Set Waypoint Following Mode");
        _gui->waypoint_following_info_text->setText(
                        "Set Waypoint Following Mode service not available");
}
}

void RSMControlPanel::setExplorationMode() {
std_srvs::SetBool srv;
srv.request.data = _gui->exploration_mode_box->currentIndex();
if (!_set_exploration_mode_client.call(srv)) {
        ROS_ERROR("Failed to call service Set Operation Mode");
        _gui->exploration_info_text->setText(
                        "Set Exploration Mode service not available");
}
}

void RSMControlPanel::stateInfoCallback(
        const std_msgs::String::ConstPtr& state_info) {
QString text = QString("Current state: %1").arg(state_info->data.c_str());
_gui->current_state_text->setText(text);
if (state_info->data.rfind("E:") == 0) {
        if (!_exploration_running) {
                _gui->start_exploration_button->setText("Stop");
                _exploration_running = true;
                _gui->exploration_info_text->setText("Exploration running");
                _gui->exploration_mode_box->setEnabled(false);
        }
} else if (state_info->data.rfind("W:") == 0) {
        if (!_waypoint_following_running) {
                _gui->start_waypoint_following_button->setText("Stop");
                _waypoint_following_running = false;
                _gui->waypoint_following_info_text->setText(
                                "Waypoint Following running");
        }
} else {
        _gui->start_exploration_button->setText("Start");
        _exploration_running = false;
        _gui->exploration_info_text->setText("");
        _gui->exploration_mode_box->setEnabled(true);
        _gui->start_waypoint_following_button->setText("Start");
        _gui->reset_waypoints_button->setEnabled(true);
        _gui->mode_box->setEnabled(true);
        _waypoint_following_running = false;
        _gui->waypoint_following_info_text->setText("");
}
}

void RSMControlPanel::reverseModeCallback(
        const std_msgs::Bool::ConstPtr& reverse_mode) {
_reverse_mode = reverse_mode->data;
_gui->reverse_checkbox->setChecked(_reverse_mode);
}

void RSMControlPanel::operationModeCallback(
        const rsm_msgs::OperationMode::ConstPtr& operation_mode) {
if (_operation_mode_button_pushed) {
        _operation_mode_button_pushed = false;
} else {
        _emergency_stop_active = operation_mode->emergencyStop;
        _operation_mode = operation_mode->mode;
        updateOperationModeGUI();
}
}

void RSMControlPanel::initRoutineComboBox() {
QStringList list;
list.append("None");
rsm_msgs::GetWaypointRoutines srv;
if (_get_waypoint_routines_client.call(srv)) {
        _waypoint_routines = srv.response.waypointRoutines;
        for (auto it : _waypoint_routines) {
                list.append(it.c_str());
        }
} else {
        ROS_ERROR("Failed to call Get Waypoint Routines service");
}
_gui->routine_combo_box->addItems(list);
}

void RSMControlPanel::getStateInfo() {
std_srvs::Trigger srv;
if (_state_info_client.call(srv)) {
        QString text = QString("Current state: %1").arg(
                        srv.response.message.c_str());
        _gui->current_state_text->setText(text);
} else {
        ROS_ERROR("Failed to call State Info service");
}
}

void RSMControlPanel::updateOperationModeGUI() {
_gui->stopped_radio_button->setChecked(_operation_mode == 0);
_gui->autonomy_radio_button->setChecked(_operation_mode == 1);
_gui->teleoperation_radio_button->setChecked(_operation_mode == 2);
if (_emergency_stop_active) {
        _gui->emergency_stop_button->setStyleSheet(
                        "background-color: rgba(150,75,75,1);color: rgba(0,0,0,1);");
        _gui->autonomy_radio_button->setEnabled(false);
        _gui->teleoperation_radio_button->setEnabled(false);
} else {
        _gui->emergency_stop_button->setStyleSheet(
                        "background-color: rgba(150,0,0,1);color: rgba(255,255,255,1);");
        _gui->autonomy_radio_button->setEnabled(true);
        _gui->teleoperation_radio_button->setEnabled(true);
}
}

void RSMControlPanel::shutdownPlugin() {
ros::shutdown();
}

void RSMControlPanel::saveSettings(qt_gui_cpp::Settings& plugin_settings,
        qt_gui_cpp::Settings& instance_settings) const {

}

void RSMControlPanel::restoreSettings(
        const qt_gui_cpp::Settings& plugin_settings,
        const qt_gui_cpp::Settings& instance_settings) {

}

} /* namespace rsm */

PLUGINLIB_EXPORT_CLASS(rsm::RSMControlPanel, rqt_gui_cpp::Plugin)