tibi_dabo_head_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 _tibi_dabo_head_driver_node_h_
#define _tibi_dabo_head_driver_node_h_

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

// [publisher subscriber headers]
#include <trajectory_msgs/JointTrajectoryPoint.h>
#include <sensor_msgs/JointState.h>
#include <std_msgs/String.h>

// [service client headers]

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

// diagnostic headers
#include "diagnostic_updater/diagnostic_updater.h"
#include "diagnostic_updater/publisher.h"

class TibiDaboHeadDriverNode : public iri_base_driver::IriBaseNodeDriver<TibiDaboHeadDriver>
{
  private:
    // [publisher attributes]
    ros::Publisher joint_feedback_publisher_;
    sensor_msgs::JointState JointState_msg_;

    // [subscriber attributes]
    ros::Subscriber joint_position_subscriber_;
    void joint_position_callback(const trajectory_msgs::JointTrajectoryPoint::ConstPtr& msg);
    CMutex joint_position_mutex_;
    ros::Subscriber facial_expression_subscriber_;
    void facial_expression_callback(const std_msgs::String::ConstPtr& msg);
    CMutex facial_expression_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]
    // Action server fo the motion sequences
    IriActionServer<tibi_dabo_msgs::sequenceAction> motion_sequence_aserver_;
    void motion_sequence_startCallback(const tibi_dabo_msgs::sequenceGoalConstPtr& goal);
    void motion_sequence_stopCallback(void);
    bool motion_sequence_isFinishedCallback(void);
    bool motion_sequence_hasSucceedCallback(void);
    void motion_sequence_getResultCallback(tibi_dabo_msgs::sequenceResultPtr& result);
    void motion_sequence_getFeedbackCallback(tibi_dabo_msgs::sequenceFeedbackPtr& feedback);

    // action server for the joint motion of the head
    IriActionServer<control_msgs::FollowJointTrajectoryAction> joint_motion_aserver_;
    void joint_motion_startCallback(const control_msgs::FollowJointTrajectoryGoalConstPtr& goal);
    void joint_motion_stopCallback(void);
    bool joint_motion_isFinishedCallback(void);
    bool joint_motion_hasSucceedCallback(void);
    void joint_motion_getResultCallback(control_msgs::FollowJointTrajectoryResultPtr& result);
    void joint_motion_getFeedbackCallback(control_msgs::FollowJointTrajectoryFeedbackPtr& feedback);

    // [action client attributes]

    void postNodeOpenHook(void);
    void preNodeCloseHook(void);

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

    ~TibiDaboHeadDriverNode(void);

  protected:
    void mainNodeThread(void);

    // [diagnostic functions]
    void check_motion_sequence_status(diagnostic_updater::DiagnosticStatusWrapper &stat);

    void addNodeDiagnostics(void);

    // [driver test functions]

    void addNodeOpenedTests(void);

    void addNodeStoppedTests(void);

    void addNodeRunningTests(void);

    void reconfigureNodeHook(int level);

};

#endif