tibi_dabo_head_tracking_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_head_tracking_alg_node_h_
#define _tibi_dabo_head_tracking_alg_node_h_

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

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

// [service client headers]

// [action server client headers]
#include <iri_action_server/iri_action_server.h>
#include <iri_nav_msgs/followTargetAction.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>

#include "eventserver.h"

class TibiDaboHeadTrackingAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboHeadTrackingAlgorithm>
{
  private:
    // [publisher attributes]
    ros::Publisher joint_position_publisher_;
    trajectory_msgs::JointTrajectoryPoint JointTrajectoryPoint_msg_;

    // [subscriber attributes]
    ros::Subscriber target_joints_subscriber_;
    void target_joints_callback(const trajectory_msgs::JointTrajectoryPoint::ConstPtr& msg);
    CMutex target_pos_mutex_;
    ros::Subscriber joint_feedback_subscriber_;
    void joint_feedback_callback(const sensor_msgs::JointState::ConstPtr& msg);
    CMutex joint_feedback_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]
    IriActionServer<iri_nav_msgs::followTargetAction> follow_target_aserver_;
    void follow_targetStartCallback(const iri_nav_msgs::followTargetGoalConstPtr& goal);
    void follow_targetStopCallback(void);
    bool follow_targetIsFinishedCallback(void);
    bool follow_targetHasSucceedCallback(void);
    void follow_targetGetResultCallback(iri_nav_msgs::followTargetResultPtr& result);
    void follow_targetGetFeedbackCallback(iri_nav_msgs::followTargetFeedbackPtr& feedback);

    // [action client attributes]

    CEventServer *event_server;
    std::string feedback_on_event_id;
    // state machine events
    std::string new_req_event_id_;
    int mode;
    float target_pan;
    float target_tilt;
    double pan_angle;
    double tilt_angle;

    typedef enum {IDLE_STATE, FOLLOW_STATE, PREEMPT_STATE} states;
    states current_state_;

  public:
    TibiDaboHeadTrackingAlgNode(void);

    ~TibiDaboHeadTrackingAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif