arm_movements_by_pose_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 _arm_movements_by_pose_alg_node_h_
#define _arm_movements_by_pose_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "arm_movements_by_pose_alg.h"

// [publisher subscriber headers]
#include <visualization_msgs/MarkerArray.h>
#include <visualization_msgs/Marker.h>

// [service client headers]
#include <iri_wam_common_msgs/joints_move.h>
#include <iri_wam_common_msgs/wamInverseKinematics.h>
#include <iri_wam_common_msgs/pose_move.h>
#include <estirabot_msgs/ArmMovementsPosesSrv.h>

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


// other
#include <arm_navigation_msgs/utils.h>
//#include <geometry_msgs/PoseStamped.h>

// logfile
#include <iostream>
#include <fstream>

class ArmMovementsByPoseAlgNode : public algorithm_base::IriBaseAlgorithm<ArmMovementsByPoseAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher visualization_movement_markers_publisher_;
    visualization_msgs::MarkerArray MarkerArray_msg_;

    // [subscriber attributes]

    // [service attributes]
    ros::ServiceServer clean_movement_server_;
    bool clean_movementCallback(estirabot_msgs::ArmMovementsPosesSrv::Request &req, estirabot_msgs::ArmMovementsPosesSrv::Response &res);
    CMutex clean_movement_mutex_;

    // [client attributes]
    ros::ServiceClient wam_pose_move_client_;
    iri_wam_common_msgs::pose_move wam_pose_move_srv_;
    ros::ServiceClient move_in_joints_client_;
    iri_wam_common_msgs::joints_move move_in_joints_srv_;
    ros::ServiceClient get_joints_from_pose_client_;
    iri_wam_common_msgs::wamInverseKinematics get_joints_from_pose_srv_;
    ros::ServiceClient pose_move_client_;
    iri_wam_common_msgs::pose_move pose_move_srv_;

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> move_right_arm_client_;
    arm_navigation_msgs::MoveArmGoal move_right_arm_goal_;
    bool move_right_armMakeActionRequest(geometry_msgs::PoseStamped pose);
    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<arm_navigation_msgs::MoveArmAction> move_left_arm_client_;
    arm_navigation_msgs::MoveArmGoal move_left_arm_goal_;
    bool move_left_armMakeActionRequest(geometry_msgs::PoseStamped pose);
    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);
    
    // generic acction client make action request
    bool move_armMakeActionRequest(bool right_arm, arm_navigation_msgs::SimplePoseConstraint desired_pose, std::string group_name);
    
    // Other
    bool fake_movements;
    bool robot_wam;
    bool log_movements;
    double roll_rotation, yaw_rotation, pitch_rotation;
    double robot_movement_speed_; // currently only supported by WAM
    
    // log file
    std::ofstream logfile;
    
    void get_poses_markers(std::vector<geometry_msgs::PoseStamped> poses, std::vector< uint8_t> secondary_arm);

    std::vector< double > get_wam_movement_speed();

  public:
    ArmMovementsByPoseAlgNode(void);

    ~ArmMovementsByPoseAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif