darwin_robot_driver_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_node_driver_node_h_
#define _darwin_node_driver_node_h_

#include <iri_base_driver/iri_base_driver_node.h>
#include "darwin_robot_driver.h"

// [publisher subscriber headers]
#include <std_msgs/Float64MultiArray.h>
#include <std_msgs/Int32.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/JointState.h>
#include <geometry_msgs/Twist.h>

// [service client headers]

// [action server client headers]
#include <iri_darwin_robot/tracking_headAction.h>
#include <iri_action_server/iri_action_server.h>
#include <control_msgs/FollowJointTrajectoryAction.h>

class DarwinRobotDriverNode : public iri_base_driver::IriBaseNodeDriver<DarwinRobotDriver>
{
  private:
    // [publisher attributes]
    ros::Publisher adc_channels_publisher_;
    std_msgs::Float64MultiArray Float64MultiArray_msg_;
    ros::Publisher inertial_publisher_;
    sensor_msgs::Imu Imu_msg_;
    ros::Publisher joint_states_publisher_;
    sensor_msgs::JointState JointState_msg_;

    // [subscriber attributes]
    ros::Subscriber head_target_subscriber_;
    void head_target_callback(const std_msgs::Float64MultiArray::ConstPtr& msg);
    CMutex head_target_mutex_;
    std_msgs::Float64MultiArray head_target_;
    ros::Subscriber execute_action_subscriber_;
    void execute_action_callback(const std_msgs::Int32::ConstPtr& msg);
    CMutex execute_action_mutex_;
    ros::Subscriber cmd_vel_subscriber_;
    void cmd_vel_callback(const geometry_msgs::Twist::ConstPtr& msg);
    CMutex cmd_vel_mutex_;

    // [service attributes]
 
    // [client attributes]

    // [action server attributes]
    IriActionServer<iri_darwin_robot::tracking_headAction> tracking_head_aserver_;
    void tracking_headStartCallback(const iri_darwin_robot::tracking_headGoalConstPtr& goal);
    void tracking_headStopCallback(void);
    bool tracking_headIsFinishedCallback(void);
    bool tracking_headHasSucceedCallback(void);
    void tracking_headGetResultCallback(iri_darwin_robot::tracking_headResultPtr& result);
    void tracking_headGetFeedbackCallback(iri_darwin_robot::tracking_headFeedbackPtr& feedback);
    IriActionServer<control_msgs::FollowJointTrajectoryAction> move_right_arm_joints_aserver_;
    void move_right_arm_jointsStartCallback(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal);
    void move_right_arm_jointsStopCallback(void);
    bool move_right_arm_jointsIsFinishedCallback(void);
    bool move_right_arm_jointsHasSucceedCallback(void);
    void move_right_arm_jointsGetResultCallback(control_msgs::FollowJointTrajectoryResultPtr& result);
    void move_right_arm_jointsGetFeedbackCallback(control_msgs::FollowJointTrajectoryFeedbackPtr& feedback);
    IriActionServer<control_msgs::FollowJointTrajectoryAction> move_left_arm_joints_aserver_;
    void move_left_arm_jointsStartCallback(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal);
    void move_left_arm_jointsStopCallback(void);
    bool move_left_arm_jointsIsFinishedCallback(void);
    bool move_left_arm_jointsHasSucceedCallback(void);
    void move_left_arm_jointsGetResultCallback(control_msgs::FollowJointTrajectoryResultPtr& result);
    void move_left_arm_jointsGetFeedbackCallback(control_msgs::FollowJointTrajectoryFeedbackPtr& feedback);
    IriActionServer<control_msgs::FollowJointTrajectoryAction> move_joints_aserver_;
    void move_jointsStartCallback(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal);
    void move_jointsStopCallback(void);
    bool move_jointsIsFinishedCallback(void);
    bool move_jointsHasSucceedCallback(void);
    void move_jointsGetResultCallback(control_msgs::FollowJointTrajectoryResultPtr& result);
    void move_jointsGetFeedbackCallback(control_msgs::FollowJointTrajectoryFeedbackPtr& feedback);
    
    // joint motion event identifiers
    std::string left_arm_target_id;
    std::string right_arm_target_id;
    std::string general_target_id;

    // [action client attributes]

    void postNodeOpenHook(void);

  public:
    DarwinRobotDriverNode(ros::NodeHandle& nh);

    ~DarwinRobotDriverNode(void);

  protected:
    void mainNodeThread(void);

    // [diagnostic functions]

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

#endif