remote_control.cpp

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/* Author: Dave Coleman <dave@dav.ee>
   Desc:   Contains all hooks for debug interface
*/

// C++
#include <string>

#include <rviz_visual_tools/remote_control.h>

#define CONSOLE_COLOR_RESET "\033[0m"
#define CONSOLE_COLOR_CYAN "\033[96m"
#define CONSOLE_COLOR_BROWN "\033[93m"

namespace rviz_visual_tools
{
RemoteControl::RemoteControl(const ros::NodeHandle& nh) : nh_(nh)
{
  std::string rviz_dashboard_topic = "/rviz_visual_tools_gui";

  // Subscribe to Rviz Dashboard
  const std::size_t button_queue_size = 10;
  rviz_dashboard_sub_ = nh_.subscribe<sensor_msgs::Joy>(rviz_dashboard_topic, button_queue_size,
                                                        &RemoteControl::rvizDashboardCallback, this);

  ROS_INFO_STREAM_NAMED(name_, "RemoteControl Ready.");
}

void RemoteControl::rvizDashboardCallback(const sensor_msgs::Joy::ConstPtr& msg)
{
  if (msg->buttons[1] != 0)
  {
    setReadyForNextStep();
  }
  else if (msg->buttons[2] != 0)
  {
    setAutonomous();
  }
  else if (msg->buttons[3] != 0)
  {
    setFullAutonomous();
  }
  else if (msg->buttons[4] != 0)
  {
    setStop();
  }
  else
  {
    ROS_ERROR_STREAM_NAMED(name_, "Unknown input button");
  }
}

bool RemoteControl::setReadyForNextStep()
{
  stop_ = false;

  if (is_waiting_)
  {
    next_step_ready_ = true;
  }
  return true;
}

void RemoteControl::setAutonomous(bool autonomous)
{
  autonomous_ = autonomous;
  stop_ = false;
}

void RemoteControl::setFullAutonomous(bool autonomous)
{
  full_autonomous_ = autonomous;
  autonomous_ = autonomous;
  stop_ = false;
}

void RemoteControl::setStop(bool stop)
{
  stop_ = stop;
  if (stop)
  {
    autonomous_ = false;
    full_autonomous_ = false;
  }
}

bool RemoteControl::getStop()
{
  return stop_;
}

bool RemoteControl::getAutonomous()
{
  return autonomous_;
}

bool RemoteControl::getFullAutonomous()
{
  return full_autonomous_;
}

bool RemoteControl::waitForNextStep(const std::string& caption)
{
  // Check if we really need to wait
  if (!(!next_step_ready_ && !autonomous_ && ros::ok()))
  {
    return true;
  }

  // Show message
  std::cout << std::endl;
  std::cout << CONSOLE_COLOR_CYAN << "Waiting to continue: " << caption << CONSOLE_COLOR_RESET << std::flush;

  if (displayWaitingState_)
  {
    displayWaitingState_(true);
  }

  is_waiting_ = true;
  // Wait until next step is ready
  while (!next_step_ready_ && !autonomous_ && ros::ok())
  {
    ros::Duration(0.25).sleep();
    ros::spinOnce();
  }
  if (!ros::ok())
  {
    exit(0);
  }

  next_step_ready_ = false;
  is_waiting_ = false;
  std::cout << CONSOLE_COLOR_CYAN << "... continuing" << CONSOLE_COLOR_RESET << std::endl;

  if (displayWaitingState_)
  {
    displayWaitingState_(false);
  }
  return true;
}

bool RemoteControl::waitForNextFullStep(const std::string& caption)
{
  // Check if we really need to wait
  if (!(!next_step_ready_ && !full_autonomous_ && ros::ok()))
  {
    return true;
  }

  // Show message
  std::cout << std::endl;
  std::cout << CONSOLE_COLOR_CYAN << "Waiting to continue: " << caption << CONSOLE_COLOR_RESET << std::flush;

  if (displayWaitingState_)
  {
    displayWaitingState_(true);
  }

  is_waiting_ = true;
  // Wait until next step is ready
  while (!next_step_ready_ && !full_autonomous_ && ros::ok())
  {
    ros::Duration(0.25).sleep();
    ros::spinOnce();
  }
  if (!ros::ok())
  {
    exit(0);
  }

  next_step_ready_ = false;
  is_waiting_ = false;
  std::cout << CONSOLE_COLOR_CYAN << "... continuing" << CONSOLE_COLOR_RESET << std::endl;

  if (displayWaitingState_)
  {
    displayWaitingState_(false);
  }
  return true;
}

}  // namespace rviz_visual_tools