tibi_dabo_guide_nav_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 _tibi_dabo_guide_nav_alg_node_h_
#define _tibi_dabo_guide_nav_alg_node_h_

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

// [publisher subscriber headers]
#include <std_msgs/Int32.h>
#include <iri_perception_msgs/peopleTrackingArray.h>

// [service client headers]
#include <iri_diff_local_planner/change_max_vel.h>
#include <iri_goal_database/get_goal.h>
#include <dynamic_reconfigure/Reconfigure.h>

// [action server client headers]
#include <tibi_dabo_msgs/sequenceAction.h>
#include <tibi_dabo_msgs/guideGoalAction.h>
#include <iri_action_server/iri_action_server.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <move_base_msgs/MoveBaseAction.h>

#include <tf/transform_listener.h>

typedef enum {guide_idle,guide_wait_goal,guide_slow_down,guide_cancel_goal,guide_turn_arround,guide_wait_person_hri,guide_wait_person,guide_person_lost_hri,
              guide_person_lost,guide_ignored,guide_face_person} guiding_states;

class TibiDaboGuideNavAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboGuideNavAlgorithm>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]

    ros::Subscriber peopleSet_subscriber_;
    void peopleSet_callback(const iri_perception_msgs::peopleTrackingArray::ConstPtr& msg);
    CMutex peopleSet_mutex_;

    // [service attributes]

    // [client attributes]
    ros::ServiceClient change_speed_client_;
    iri_diff_local_planner::change_max_vel change_speed_srv_;
    ros::ServiceClient get_goal_client_;
    iri_goal_database::get_goal get_goal_srv_;

    // [action server attributes]
    IriActionServer<tibi_dabo_msgs::guideGoalAction> move_guide_aserver_;
    void move_guideStartCallback(const tibi_dabo_msgs::guideGoalGoalConstPtr& goal);
    void move_guideStopCallback(void);
    bool move_guideIsFinishedCallback(void);
    bool move_guideHasSucceedCallback(void);
    void move_guideGetResultCallback(tibi_dabo_msgs::guideGoalResultPtr& result);
    void move_guideGetFeedbackCallback(tibi_dabo_msgs::guideGoalFeedbackPtr& feedback);
    int target_id;

    // [action client attributes]
    actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> hri_client_client_;
    tibi_dabo_msgs::sequenceGoal hri_client_goal_;
    void hri_clientMakeActionRequest();
    void hri_clientDone(const actionlib::SimpleClientGoalState& state,  const tibi_dabo_msgs::sequenceResultConstPtr& result);
    void hri_clientActive();
    void hri_clientFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback);
    bool hri_client_done;

    actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_client_;
    move_base_msgs::MoveBaseGoal move_base_goal_;
    void move_baseMakeActionRequest();
    void move_baseDone(const actionlib::SimpleClientGoalState& state,  const move_base_msgs::MoveBaseResultConstPtr& result);
    void move_baseActive();
    void move_baseFeedback(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);
    bool move_base_done;

    bool new_guide_request;
    std::string location_id;
    std::string robot_id;

    double distanceThresholdFar;
    double distanceThresholdNear;
    guiding_states current_state;
    std::string robot_frame;

    geometry_msgs::PoseStamped person_pose;
    double person_distance;
    bool person_lost;
    bool success;

    tf::TransformListener tf_listener_;
  public:
    TibiDaboGuideNavAlgNode(void);

    ~TibiDaboGuideNavAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif