tibi_dabo_hideandseek_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_hideandseek_alg_node_h_
#define _tibi_dabo_hideandseek_alg_node_h_

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

// [publisher subscriber headers]
#include <iri_perception_msgs/peopleTrackingArray.h>
#include <sensor_msgs/Joy.h>
#include <nav_msgs/Odometry.h>

// [service client headers]

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

class TibiDaboHideandseekAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboHideandseekAlgorithm>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]
    ros::Subscriber people_subscriber_;
    void people_callback(const iri_perception_msgs::peopleTrackingArray::ConstPtr& msg);
    CMutex people_mutex_;
    ros::Subscriber joy_subscriber_;
    void joy_callback(const sensor_msgs::Joy::ConstPtr& msg);
    CMutex joy_mutex_;
    ros::Subscriber odom_subscriber_;
    void odom_callback(const nav_msgs::Odometry::ConstPtr& msg);
    CMutex odom_mutex_;

    // [service attributes]

    // [client attributes]

    // [action server attributes]

    // [action client attributes]
    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);

    geometry_msgs::PoseStamped basePose;
    //geometry_msgs::PoseStamped hiderPose;
    std::vector< geometry_msgs::Point > hiderPoses;
    geometry_msgs::PoseStamped seekerPose;
    geometry_msgs::PoseStamped seekerGoal;
    int gameStatus;
    int gameIteration;
    bool paused;
    bool ready2Move;

    int previousId;
    std::vector<double> previousXY;

    bool seekerPoseReceived;
    bool hiderPoseReceived;
    bool moveBaseActive;
    std::vector<int> prev_buttons;
    tf::TransformListener tf_listener_;

    typedef enum {STATE_PLAYING=0, STATE_WIN_SEEKER=1, STATE_WIN_HIDER=2, STATE_TIE=3, STATE_IDLE=4, STATE_FINISHED=5} states;
    static const int NUM_STATES=STATE_FINISHED-STATE_PLAYING+1;

  public:
    TibiDaboHideandseekAlgNode(void);

    ~TibiDaboHideandseekAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

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

#endif