abstract_controller_execution.h

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/*
 *  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. 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.
 *
 *  3. Neither the name of the copyright holder 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 HOLDER 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.
 *
 *  abstract_controller_execution.h
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Jorge Santos Simón <santos@magazino.eu>
 *
 */

#ifndef MBF_ABSTRACT_NAV__ABSTRACT_CONTROLLER_EXECUTION_H_
#define MBF_ABSTRACT_NAV__ABSTRACT_CONTROLLER_EXECUTION_H_

#include <map>
#include <string>
#include <vector>

#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Twist.h>

#include <mbf_utility/navigation_utility.h>
#include <mbf_abstract_core/abstract_controller.h>
#include <mbf_utility/types.h>

#include "mbf_abstract_nav/MoveBaseFlexConfig.h"
#include "mbf_abstract_nav/abstract_execution_base.h"

namespace mbf_abstract_nav
{

  class AbstractControllerExecution : public AbstractExecutionBase
  {
  public:

    static const double DEFAULT_CONTROLLER_FREQUENCY;

    typedef boost::shared_ptr<AbstractControllerExecution > Ptr;

    AbstractControllerExecution(
        const std::string &name,
        const mbf_abstract_core::AbstractController::Ptr &controller_ptr,
        const ros::Publisher &vel_pub,
        const ros::Publisher &goal_pub,
        const TFPtr &tf_listener_ptr,
        const MoveBaseFlexConfig &config);

    virtual ~AbstractControllerExecution();

    virtual bool start();

    void setNewPlan(
      const std::vector<geometry_msgs::PoseStamped> &plan,
      bool tolerance_from_action = false,
      double action_dist_tolerance = 1.0,
      double action_angle_tolerance = 3.1415);

    virtual bool cancel();

    enum ControllerState
    {
      INITIALIZED,  
      STARTED,      
      PLANNING,     
      NO_PLAN,      
      MAX_RETRIES,  
      PAT_EXCEEDED, 
      EMPTY_PLAN,   
      INVALID_PLAN, 
      NO_LOCAL_CMD, 
      GOT_LOCAL_CMD,
      ARRIVED_GOAL, 
      CANCELED,     
      STOPPED,      
      INTERNAL_ERROR
    };

    ControllerState getState() const;

    ros::Time getLastPluginCallTime() const;

    geometry_msgs::TwistStamped getVelocityCmd() const;

    bool isPatienceExceeded() const;

    bool setControllerFrequency(double frequency);

    void reconfigure(const MoveBaseFlexConfig &config);

    bool isMoving() const;

  protected:

    virtual uint32_t computeVelocityCmd(const geometry_msgs::PoseStamped &pose,
                                        const geometry_msgs::TwistStamped &velocity,
                                        geometry_msgs::TwistStamped &vel_cmd, std::string &message);

    void setVelocityCmd(const geometry_msgs::TwistStamped &vel_cmd_stamped);

    std::string plugin_name_;

    mbf_abstract_core::AbstractController::Ptr controller_;

    const TFPtr &tf_listener_ptr;

    ros::Time last_call_time_;

    ros::Time start_time_;

    ros::Time last_valid_cmd_time_;

    int max_retries_;

    ros::Duration patience_;

    std::string robot_frame_;

    std::string global_frame_;

    virtual void run();

    virtual bool safetyCheck() { return true; };

  private:


    void publishZeroVelocity();

    bool reachedGoalCheck();

    bool computeRobotPose();

    void setState(ControllerState state);

    mutable boost::mutex state_mtx_;

    mutable boost::mutex plan_mtx_;

    mutable boost::mutex vel_cmd_mtx_;

    mutable boost::mutex lct_mtx_;

    bool new_plan_;

    bool hasNewPlan();

    std::vector<geometry_msgs::PoseStamped> getNewPlan();

    geometry_msgs::TwistStamped vel_cmd_stamped_;

    std::vector<geometry_msgs::PoseStamped> plan_;

    ros::Rate loop_rate_;

    ros::Publisher vel_pub_;

    ros::Publisher current_goal_pub_;

    AbstractControllerExecution::ControllerState state_;

    double tf_timeout_;

    boost::mutex configuration_mutex_;

    bool moving_;

    bool mbf_tolerance_check_;

    bool force_stop_at_goal_;

    bool force_stop_on_cancel_;

    double dist_tolerance_;

    double angle_tolerance_;

    geometry_msgs::PoseStamped robot_pose_;

    bool tolerance_from_action_;

    double action_dist_tolerance_;

    double action_angle_tolerance_;
  };

} /* namespace mbf_abstract_nav */

#endif /* MBF_ABSTRACT_NAV__ABSTRACT_CONTROLLER_EXECUTION_H_ */