joint_trajectory_streamer.h

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#ifndef JOINT_TRAJECTORY_STREAMER_H
#define JOINT_TRAJECTORY_STREAMER_H
 
#include <boost/thread/thread.hpp>
#include "industrial_robot_client/joint_trajectory_interface.h"
 
namespace industrial_robot_client
{
namespace joint_trajectory_streamer
{
 
using industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface;
using industrial::joint_traj_pt_message::JointTrajPtMessage;
using industrial::smpl_msg_connection::SmplMsgConnection;
 
namespace TransferStates
{
enum TransferState
{
  IDLE = 0, STREAMING =1 //,STARTING, //, STOPPING
};
 
std::string to_string(TransferState state)
{
  if(state == TransferState::IDLE)
    return "IDLE";
  if(state == TransferState::STREAMING)
    return "STREAMING";
  return "UNKNOWN";
}
}
typedef TransferStates::TransferState TransferState;
 
//* JointTrajectoryStreamer
class JointTrajectoryStreamer : public JointTrajectoryInterface
{
 
public:
 
  // since this class defines a different init(), this helps find the base-class init()
  using JointTrajectoryInterface::init;
 
  JointTrajectoryStreamer(int min_buffer_size = 1) : min_buffer_size_(min_buffer_size) {};
 
  virtual bool init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names,
                    const std::map<std::string, double> &velocity_limits = std::map<std::string, double>());
 
  ~JointTrajectoryStreamer();
 
  virtual void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);
 
  virtual bool trajectory_to_msgs(const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector<JointTrajPtMessage>* msgs);
 
  void streamingThread();
 
  bool send_to_robot(const std::vector<JointTrajPtMessage>& messages);
 
protected:
 
  void trajectoryStop();
 
  boost::thread* streaming_thread_;
  boost::mutex mutex_;
  int current_point_;
  std::vector<JointTrajPtMessage> current_traj_;
  TransferState state_;
  ros::Time streaming_start_;
  int min_buffer_size_;
};
 
} //joint_trajectory_streamer
} //industrial_robot_client
 
#endif /* JOINT_TRAJECTORY_STREAMER_H */