IRI ROS Specific Algorithm Class. More...

#include <tibi_dabo_conversation_alg_node.h>

Inheritance diagram for TibiDaboConversationAlgNode:

Public Member Functions
	TibiDaboConversationAlgNode (void)
	Constructor.
	~TibiDaboConversationAlgNode (void)
	Destructor.
Protected Member Functions
void	addNodeDiagnostics (void)
	node add diagnostics
void	mainNodeThread (void)
	main node thread
void	node_config_update (Config &config, uint32_t level)
	dynamic reconfigure server callback
Private Types
enum	clients { TTS_ = 0, LEDS_ = 1, HEAD_ = 2, LEFT_ARM_ = 3, RIGHT_ARM_ = 4 }
Private Member Functions
bool	conversationCallback (tibi_dabo_conversation::conversation::Request &req, tibi_dabo_conversation::conversation::Response &res)
void	hriActive ()
void	hriDone (const actionlib::SimpleClientGoalState &state, const tibi_dabo_msgs::sequenceResultConstPtr &result)
void	hriFeedback (const tibi_dabo_msgs::sequenceFeedbackConstPtr &feedback)
void	hriMakeActionRequest (std::vector< std::string > &sequences)
void	joy_callback (const sensor_msgs::Joy::ConstPtr &joy_msg)
void	loadSentences ()
int	useExtraButton (const unsigned int &index)
Private Attributes
std::vector< std::string >	button_files_
int	buttonIndex
ros::ServiceClient	conversation_client_
CMutex	conversation_mutex_
ros::ServiceServer	conversation_server_
tibi_dabo_conversation::conversation	conversation_srv_
bool	hri_action_in_progress_
actionlib::SimpleActionClient < tibi_dabo_msgs::sequenceAction >	hri_client_
tibi_dabo_msgs::sequenceGoal	hri_goal_
int	index
CMutex	joy_mutex_
ros::Subscriber	joy_subscriber_
std::vector< int >	prev_buttons_
std::string	robot
std::vector< std::vector < std::string > >	sentences
std::vector< std::string >	sequences
Static Private Attributes
static const int	NUM_CLIENTS = RIGHT_ARM_-TTS_+1

Detailed Description

IRI ROS Specific Algorithm Class.

Definition at line 46 of file tibi_dabo_conversation_alg_node.h.

Member Enumeration Documentation

enum TibiDaboConversationAlgNode::clients [private]

Enumerator:

TTS_
LEDS_
HEAD_
LEFT_ARM_
RIGHT_ARM_

Definition at line 82 of file tibi_dabo_conversation_alg_node.h.

Constructor & Destructor Documentation

TibiDaboConversationAlgNode::TibiDaboConversationAlgNode ( void )

Constructor.

This constructor initializes specific class attributes and all ROS communications variables to enable message exchange.

Definition at line 4 of file tibi_dabo_conversation_alg_node.cpp.

TibiDaboConversationAlgNode::~TibiDaboConversationAlgNode ( void )

Destructor.

This destructor frees all necessary dynamic memory allocated within this this class.

Definition at line 37 of file tibi_dabo_conversation_alg_node.cpp.

Member Function Documentation

void TibiDaboConversationAlgNode::addNodeDiagnostics ( void ) [protected, virtual]

node add diagnostics

In this abstract function additional ROS diagnostics applied to the specific algorithms may be added.

Implements algorithm_base::IriBaseAlgorithm< TibiDaboConversationAlgorithm >.

Definition at line 277 of file tibi_dabo_conversation_alg_node.cpp.

bool TibiDaboConversationAlgNode::conversationCallback	(	tibi_dabo_conversation::conversation::Request &	req,
		tibi_dabo_conversation::conversation::Response &	res
	)		`[private]`

Definition at line 142 of file tibi_dabo_conversation_alg_node.cpp.

void TibiDaboConversationAlgNode::hriActive ( ) [private]

Definition at line 214 of file tibi_dabo_conversation_alg_node.cpp.

void TibiDaboConversationAlgNode::hriDone	(	const actionlib::SimpleClientGoalState &	state,
		const tibi_dabo_msgs::sequenceResultConstPtr &	result
	)		`[private]`

Definition at line 184 of file tibi_dabo_conversation_alg_node.cpp.

void TibiDaboConversationAlgNode::hriFeedback ( const tibi_dabo_msgs::sequenceFeedbackConstPtr & feedback ) [private]

Definition at line 219 of file tibi_dabo_conversation_alg_node.cpp.

void TibiDaboConversationAlgNode::hriMakeActionRequest ( std::vector< std::string > & sequences ) [private]

Definition at line 237 of file tibi_dabo_conversation_alg_node.cpp.

void TibiDaboConversationAlgNode::joy_callback ( const sensor_msgs::Joy::ConstPtr & joy_msg ) [private]

Definition at line 86 of file tibi_dabo_conversation_alg_node.cpp.

void TibiDaboConversationAlgNode::loadSentences ( ) [private]

Definition at line 331 of file tibi_dabo_conversation_alg_node.cpp.

void TibiDaboConversationAlgNode::mainNodeThread ( void ) [protected, virtual]

main node thread

This is the main thread node function. Code written here will be executed in every node loop while the algorithm is on running state. Loop frequency can be tuned by modifying loop_rate attribute.

Here data related to the process loop or to ROS topics (mainly data structs related to the MSG and SRV files) must be updated. ROS publisher objects must publish their data in this process. ROS client servers may also request data to the corresponding server topics.

Implements algorithm_base::IriBaseAlgorithm< TibiDaboConversationAlgorithm >.

Definition at line 42 of file tibi_dabo_conversation_alg_node.cpp.

void TibiDaboConversationAlgNode::node_config_update	(	Config &	config,
		uint32_t	level
	)		`[protected, virtual]`

dynamic reconfigure server callback

This method is called whenever a new configuration is received through the dynamic reconfigure. The derivated generic algorithm class must implement it.

Parameters:

config	an object with new configuration from all algorithm parameters defined in the config file.
level	integer referring the level in which the configuration has been changed.

Implements algorithm_base::IriBaseAlgorithm< TibiDaboConversationAlgorithm >.

Definition at line 270 of file tibi_dabo_conversation_alg_node.cpp.

int TibiDaboConversationAlgNode::useExtraButton ( const unsigned int & index ) [private]

Definition at line 287 of file tibi_dabo_conversation_alg_node.cpp.