darwin_icra12_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _darwin_icra12_alg_node_h_
#define _darwin_icra12_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "darwin_icra12_alg.h"
#include <tf/transform_listener.h>

// [publisher subscriber headers]
#include <geometry_msgs/PoseStamped.h>

// [service client headers]

// [action server client headers]
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <arm_navigation_msgs/MoveArmAction.h>

typedef enum {detect_object=0,make_decision,move_robot,move_arms,open_gripper,close_gripper,cancel_motion} TStates;

class DarwinIcra12AlgNode : public algorithm_base::IriBaseAlgorithm<DarwinIcra12Algorithm>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]
    ros::Subscriber object_pose_subscriber_;
    void object_pose_callback(const geometry_msgs::PoseStamped::ConstPtr& msg);
    geometry_msgs::PoseStamped object_pose;
    bool new_object_pose;
    CMutex object_pose_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_right_arm_client_;
    arm_navigation_msgs::MoveArmGoal move_right_arm_goal_;
    void move_right_armMakeActionRequest();
    void move_right_armDone(const actionlib::SimpleClientGoalState& state,  const arm_navigation_msgs::MoveArmResultConstPtr& result);
    void move_right_armActive();
    void move_right_armFeedback(const arm_navigation_msgs::MoveArmFeedbackConstPtr& feedback);

    actionlib::SimpleActionClient<control_msgs::FollowJointTrajectoryAction> move_joints_client_;
    control_msgs::FollowJointTrajectoryGoal move_joints_goal_;
    void move_jointsMakeActionRequest();
    void move_jointsDone(const actionlib::SimpleClientGoalState& state,  const control_msgs::FollowJointTrajectoryResultConstPtr& result);
    void move_jointsActive();
    void move_jointsFeedback(const control_msgs::FollowJointTrajectoryFeedbackConstPtr& feedback);

    actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_client_;
    move_base_msgs::MoveBaseGoal move_base_goal_;
    void move_baseMakeActionRequest();
    void move_baseDone(const actionlib::SimpleClientGoalState& state,  const move_base_msgs::MoveBaseResultConstPtr& result);
    void move_baseActive();
    void move_baseFeedback(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);

    actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_left_arm_client_;
    arm_navigation_msgs::MoveArmGoal move_left_arm_goal_;
    void move_left_armMakeActionRequest();
    void move_left_armDone(const actionlib::SimpleClientGoalState& state,  const arm_navigation_msgs::MoveArmResultConstPtr& result);
    void move_left_armActive();
    void move_left_armFeedback(const arm_navigation_msgs::MoveArmFeedbackConstPtr& feedback);

    tf::TransformListener tf_listener;
    bool arm_moving;// arm is moving flag
    bool base_moving;// base is moving flag
    bool joints_moving;// joints are moving flag

    TStates state;

  public:
    DarwinIcra12AlgNode(void);

    ~DarwinIcra12AlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif