00001 // Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC. 00002 // Author 00003 // All rights reserved. 00004 // 00005 // This file is part of iri-ros-pkg 00006 // iri-ros-pkg is free software: you can redistribute it and/or modify 00007 // it under the terms of the GNU Lesser General Public License as published by 00008 // the Free Software Foundation, either version 3 of the License, or 00009 // at your option) any later version. 00010 // 00011 // This program is distributed in the hope that it will be useful, 00012 // but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 // GNU Lesser General Public License for more details. 00015 // 00016 // You should have received a copy of the GNU Lesser General Public License 00017 // along with this program. If not, see <http://www.gnu.org/licenses/>. 00018 // 00019 // IMPORTANT NOTE: This code has been generated through a script from the 00020 // iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness 00021 // of the scripts. ROS topics can be easly add by using those scripts. Please 00022 // refer to the IRI wiki page for more information: 00023 // http://wikiri.upc.es/index.php/Robotics_Lab 00024 00025 #ifndef _tibi_dabo_hri_client_alg_node_h_ 00026 #define _tibi_dabo_hri_client_alg_node_h_ 00027 00028 #include <iri_base_algorithm/iri_base_algorithm.h> 00029 #include "tibi_dabo_hri_client_alg.h" 00030 00031 // [publisher subscriber headers] 00032 00033 // [service client headers] 00034 00035 // [action server client headers] 00036 #include <actionlib/client/simple_action_client.h> 00037 #include <actionlib/client/terminal_state.h> 00038 #include <tibi_dabo_msgs/sequenceAction.h> 00039 00044 class TibiDaboHriClientAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboHriClientAlgorithm> 00045 { 00046 private: 00047 // [publisher attributes] 00048 00049 // [subscriber attributes] 00050 00051 // [service attributes] 00052 00053 // [client attributes] 00054 00055 // [action server attributes] 00056 00057 // [action client attributes] 00058 actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> hri_client_; 00059 tibi_dabo_msgs::sequenceGoal hri_goal_; 00060 void hriMakeActionRequest(std::vector<std::string> &sequences); 00061 void hriDone(const actionlib::SimpleClientGoalState& state, const tibi_dabo_msgs::sequenceResultConstPtr& result); 00062 void hriActive(); 00063 void hriFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback); 00064 00065 typedef enum {TTS_=0,LEDS_=1,HEAD_=2,LEFT_ARM_=3,RIGHT_ARM_=4} clients; 00066 static const int NUM_CLIENTS=RIGHT_ARM_-TTS_+1; 00067 00068 std::vector<std::string> sequences; 00069 bool hri_active; 00070 bool sendRequest; 00071 bool stopRequest; 00072 00073 00074 public: 00081 TibiDaboHriClientAlgNode(void); 00082 00089 ~TibiDaboHriClientAlgNode(void); 00090 00091 protected: 00104 void mainNodeThread(void); 00105 00118 void node_config_update(Config &config, uint32_t level); 00119 00126 void addNodeDiagnostics(void); 00127 00128 // [diagnostic functions] 00129 00130 // [test functions] 00131 }; 00132 00133 #endif