wam_move_arm_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 _wam_move_arm_alg_node_h_
#define _wam_move_arm_alg_node_h_
#include <boost/scoped_ptr.hpp>
#include <boost/thread/recursive_mutex.hpp>
#include <actionlib/server/simple_action_server.h>

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

// [publisher subscriber headers]

// [service client headers]

// [action server client headers]
#include <iri_action_server/iri_action_server.h>
#include <arm_navigation_msgs/MoveArmAction.h>
#include <arm_navigation_msgs/ArmNavigationErrorCodes.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <arm_navigation_msgs/ArmNavigationErrorCodes.h>
class WamMoveArmAlgNode : public algorithm_base::IriBaseAlgorithm<WamMoveArmAlgorithm>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    bool has_move_arm_feedback;
    ros::Duration time_move_arm_feedback;
    std::string state_move_arm_feedback;
    
    bool has_move_arm_result;
    arm_navigation_msgs::ArmNavigationErrorCodes error_code_move_arm;
    std::vector<arm_navigation_msgs::ContactInformation> contact_information_move_arm;
    std::string state_move_arm_goal;
    
   
    IriActionServer<arm_navigation_msgs::MoveArmAction> move_arm_aserver_;
    void move_armStartCallback(const arm_navigation_msgs::MoveArmGoalConstPtr& goal);
    void move_armStopCallback(void);
    bool move_armIsFinishedCallback(void);
    bool move_armHasSucceedCallback(void);
    void move_armGetResultCallback(arm_navigation_msgs::MoveArmResultPtr& result);
    void move_armGetFeedbackCallback(arm_navigation_msgs::MoveArmFeedbackPtr& feedback);


    // [action client attributes]
    actionlib::SimpleActionClient<arm_navigation_msgs::MoveArmAction> syn_move_arm_client_;
    arm_navigation_msgs::MoveArmGoal syn_move_arm_goal_;
    void syn_move_armMakeActionRequest(const arm_navigation_msgs::MoveArmGoal& goal);
    void syn_move_armDone(const actionlib::SimpleClientGoalState& state,  const arm_navigation_msgs::MoveArmResultConstPtr& result);
    void syn_move_armActive();
    void syn_move_armFeedback(const arm_navigation_msgs::MoveArmFeedbackConstPtr& feedback);

        arm_navigation_msgs::MoveArmResult move_result;
        arm_navigation_msgs::MoveArmFeedback move_feedback;

  public:
    WamMoveArmAlgNode(void);

    ~WamMoveArmAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif