wam_driver_node.h

Go to the documentation of this file.

// 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_driver_node_h_
#define _wam_driver_node_h_

#include <iri_base_driver/iri_base_driver_node.h>
#include "wam_driver.h"
#include <Eigen/Dense>

// [publisher subscriber headers]
#include <wam_msgs/RTJointPos.h>
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include "sensor_msgs/JointState.h"
#include "geometry_msgs/PoseStamped.h"

// [service client headers]
#include "iri_wam_common_msgs/wamdriver.h"
#include "iri_wam_common_msgs/joints_move.h"
#include "iri_wam_common_msgs/pose_move.h"

// [action server client headers]
#include <iri_wam_common_msgs/DMPTrackerAction.h>
#include <iri_wam_common_msgs/LWPRTrajectoryReturningForceEstimationAction.h>
#include <iri_action_server/iri_action_server.h>

// [action server msgs]
#include <control_msgs/FollowJointTrajectoryAction.h>
#include <actionlib/server/action_server.h>

#define HOLDON 0
#define HOLDOFF 1

class WamDriverNode : public iri_base_driver::IriBaseNodeDriver<WamDriver>
{
  //JointTrajectoryAction(Diamondback & Electric)       
  typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> ActionExecutor;
  typedef ActionExecutor::GoalHandle GoalHandle;
  //FollowJoinTrajectoryAction(Electric)
  typedef actionlib::ActionServer<control_msgs::FollowJointTrajectoryAction> ActionExecutorFollow;
  typedef ActionExecutorFollow::GoalHandle GoalHandleFollow;
  
  private:
    // [publisher attributes]
    ros::Publisher joint_states_publisher;
    sensor_msgs::JointState JointState_msg;
    ros::Publisher pose_publisher;
    geometry_msgs::PoseStamped PoseStamped_msg;

    // [subscriber attributes]
    ros::Subscriber jnt_pos_cmd_subscriber_;
    void jnt_pos_cmd_callback(const wam_msgs::RTJointPos::ConstPtr& msg);
    CMutex jnt_pos_cmd_mutex_;
    ros::Subscriber DMPTrackerNewGoal_subscriber_;
    void DMPTrackerNewGoal_callback(const trajectory_msgs::JointTrajectoryPoint::ConstPtr& msg);
    CMutex DMPTrackerNewGoal_mutex_;

    // [service attributes]
    ros::ServiceServer wam_services_server_;
    bool wam_servicesCallback(iri_wam_common_msgs::wamdriver::Request  & req,
                              iri_wam_common_msgs::wamdriver::Response & res);

    ros::ServiceServer joints_move_server;
    bool joints_moveCallback(iri_wam_common_msgs::joints_move::Request  & req,
                             iri_wam_common_msgs::joints_move::Response & res);

    ros::ServiceServer pose_move_server;
    bool pose_moveCallback(iri_wam_common_msgs::pose_move::Request  & req,
                           iri_wam_common_msgs::pose_move::Response & res);

    // [client attributes]

    // [action server attributes]
    IriActionServer<iri_wam_common_msgs::DMPTrackerAction> DMPTracker_aserver_;
    void DMPTrackerStartCallback(const iri_wam_common_msgs::DMPTrackerGoalConstPtr& goal);
    void DMPTrackerStopCallback(void);
    bool DMPTrackerIsFinishedCallback(void);
    bool DMPTrackerHasSucceedCallback(void);
    void DMPTrackerGetResultCallback(iri_wam_common_msgs::DMPTrackerResultPtr& result);
    void DMPTrackerGetFeedbackCallback(iri_wam_common_msgs::DMPTrackerFeedbackPtr& feedback);
    IriActionServer<iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationAction> lwpr_trajectory_server_aserver_;
    void lwpr_trajectory_serverStartCallback(const iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationGoalConstPtr& goal);
    void lwpr_trajectory_serverStopCallback(void);
    bool lwpr_trajectory_serverIsFinishedCallback(void);
    bool lwpr_trajectory_serverHasSucceedCallback(void);
    void lwpr_trajectory_serverGetResultCallback(iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationResultPtr& result);
    void lwpr_trajectory_serverGetFeedbackCallback(iri_wam_common_msgs::LWPRTrajectoryReturningForceEstimationFeedbackPtr& feedback);

    IriActionServer<control_msgs::FollowJointTrajectoryAction> follow_joint_trajectory_server_;
    void joint_trajectoryStartCallback(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal);
    void joint_trajectoryStopCallback(void);
    bool joint_trajectoryIsFinishedCallback(void);
    bool joint_trajectoryHasSucceedCallback(void);
    void joint_trajectoryGetResultCallback(control_msgs::FollowJointTrajectoryResultPtr& result);
    void joint_trajectoryGetFeedbackCallback(control_msgs::FollowJointTrajectoryFeedbackPtr& feedback);

    void goalCB(GoalHandle gh);
    void cancelCB(GoalHandle gh);
    
    void goalFollowCB(GoalHandleFollow gh);
    void canceFollowlCB(GoalHandleFollow gh);    
    // [action client attributes]
    
    void postNodeOpenHook(void);
    
    void trajectory2follow(trajectory_msgs::JointTrajectory traj, bool& state);

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

    ~WamDriverNode();

  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