controller_manager.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  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 Willow Garage 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 ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVEIT_CONTROLLER_MANAGER_
#define MOVEIT_MOVEIT_CONTROLLER_MANAGER_

#include <vector>
#include <string>
#include <moveit_msgs/RobotTrajectory.h>
#include <moveit/macros/class_forward.h>

namespace moveit_controller_manager
{
struct ExecutionStatus
{
  enum Value
  {
    UNKNOWN,
    RUNNING,
    SUCCEEDED,
    PREEMPTED,
    TIMED_OUT,
    ABORTED,
    FAILED
  };

  ExecutionStatus(Value value = UNKNOWN) : status_(value)
  {
  }

  operator Value() const
  {
    return status_;
  }

  explicit operator bool() const
  {
    return status_ == SUCCEEDED;
  }

  std::string asString() const
  {
    switch (status_)
    {
      case RUNNING:
        return "RUNNING";
      case SUCCEEDED:
        return "SUCCEEDED";
      case PREEMPTED:
        return "PREEMPTED";
      case TIMED_OUT:
        return "TIMED_OUT";
      case ABORTED:
        return "ABORTED";
      case FAILED:
        return "FAILED";
      default:
        return "UNKNOWN";
    }
  }

private:
  Value status_;
};

MOVEIT_CLASS_FORWARD(MoveItControllerHandle);

class MoveItControllerHandle
{
public:
  MoveItControllerHandle(const std::string& name) : name_(name)
  {
  }

  virtual ~MoveItControllerHandle()
  {
  }

  const std::string& getName() const
  {
    return name_;
  }

  virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory& trajectory) = 0;

  virtual bool cancelExecution() = 0;

  virtual bool waitForExecution(const ros::Duration& timeout = ros::Duration(0)) = 0;

  virtual ExecutionStatus getLastExecutionStatus() = 0;

protected:
  std::string name_;
};

MOVEIT_CLASS_FORWARD(MoveItControllerManager);

class MoveItControllerManager
{
public:
  struct ControllerState
  {
    ControllerState() : active_(false), default_(false)
    {
    }

    bool active_;

    bool default_;
  };

  MoveItControllerManager()
  {
  }

  virtual ~MoveItControllerManager()
  {
  }

  virtual MoveItControllerHandlePtr getControllerHandle(const std::string& name) = 0;

  virtual void getControllersList(std::vector<std::string>& names) = 0;

  virtual void getActiveControllers(std::vector<std::string>& names) = 0;

  virtual void getControllerJoints(const std::string& name, std::vector<std::string>& joints) = 0;

  virtual ControllerState getControllerState(const std::string& name) = 0;

  virtual bool switchControllers(const std::vector<std::string>& activate,
                                 const std::vector<std::string>& deactivate) = 0;
};
}

#endif