controller_to_csv.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2015, University of Colorado, Boulder
 *  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 the Univ of CO, Boulder 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: Dave Coleman
   Desc:   Records a ros_control ControllerState data to CSV for Matlab/etc analysis
*/
 
#ifndef GENERIC_ROS_CONTROL__CONTROLLER_TO_CSV_H
#define GENERIC_ROS_CONTROL__CONTROLLER_TO_CSV_H
 
// ROS
#include <ros/ros.h>
 
// ros_control
#include <control_msgs/JointTrajectoryControllerState.h>
 
namespace ros_control_boilerplate
{
class ControllerToCSV
{
public:
  ControllerToCSV(const std::string& topic);
 
  ~ControllerToCSV();
 
  bool recordAll();
 
  void startRecording(const std::string& file_name);
 
  void stopRecording();
 
private:
  bool writeToFile();
 
  void stateCB(const control_msgs::JointTrajectoryControllerState::ConstPtr& state);
 
  void update(const ros::TimerEvent& e);
 
  bool waitForSubscriber(const ros::Subscriber& sub, const double& wait_time = 10.0);
 
  // Class name
  std::string name_ = "controller_to_csv";
 
  // A shared node handle
  ros::NodeHandle nh_;
 
  // Show status info on first update
  bool first_update_;
  bool recording_started_;
 
  // Listener to state of controller
  ros::Subscriber state_sub_;
  double record_hz_;  // how often to record the latest incoming data. if zero, record all
 
  // Where to save the CSV
  std::string file_name_;
 
  // Buffer of controller state data
  std::vector<control_msgs::JointTrajectoryControllerState> states_;
  std::vector<ros::Time> timestamps_;
 
  // Cache of last recieved state
  control_msgs::JointTrajectoryControllerState current_state_;
 
  // How often to sample the state
  ros::Timer non_realtime_loop_;
 
};  // end class
 
// Create std pointers for this class
typedef std::shared_ptr<ControllerToCSV> ControllerToCSVPtr;
typedef std::shared_ptr<const ControllerToCSV> ControllerToCSVConstPtr;
 
}  // namespace ros_control_boilerplate
 
#endif