remote_control.h

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/* Author: Dave Coleman <dave@picknik.ai>
   Desc:   Tool for creating break points and user verification points through
           manipulation pipelines or other live robotitc tool.
           Think GDB for robots, or like, a state machine.
*/

#ifndef RVIZ_VISUAL_TOOLS_REMOTE_CONTROL_H
#define RVIZ_VISUAL_TOOLS_REMOTE_CONTROL_H

// C++
#include <string>

// ROS
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>

namespace rviz_visual_tools
{
typedef std::function<void(bool)> DisplayWaitingState;

class RemoteControl
{
public:
  explicit RemoteControl(const ros::NodeHandle& nh);

  void rvizDashboardCallback(const sensor_msgs::Joy::ConstPtr& msg);

  bool setReadyForNextStep();

  void setAutonomous(bool autonomous = true);
  void setFullAutonomous(bool autonomous = true);

  bool getAutonomous();
  bool getFullAutonomous();

  void setStop(bool stop = true);

  bool getStop();

  bool waitForNextStep(const std::string& caption = "go to next step");
  bool waitForNextFullStep(const std::string& caption = "go to next full step");

  bool isWaiting()
  {
    return is_waiting_;
  }

  void setDisplayWaitingState(DisplayWaitingState displayWaitingState)
  {
    displayWaitingState_ = displayWaitingState;
  }

private:
  // A shared node handle
  ros::NodeHandle nh_;

  // Short name for this class
  std::string name_ = "remote_control";

  // Input
  ros::Subscriber rviz_dashboard_sub_;

  // Debug interface
  bool is_waiting_ = false;
  bool next_step_ready_ = false;
  bool autonomous_ = false;
  bool full_autonomous_ = false;
  bool stop_ = false;

  // Callback to visualize waiting state
  DisplayWaitingState displayWaitingState_;
};  // end class

typedef std::shared_ptr<RemoteControl> RemoteControlPtr;
typedef std::shared_ptr<const RemoteControl> RemoteControlConstPtr;

}  // namespace rviz_visual_tools

#endif  // RVIZ_VISUAL_TOOLS_REMOTE_CONTROL_H