Joystick.hpp

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/*
 * Joystick.hpp
 *
 *  Created on: Nov 12, 2011
 *      Author: mriedel
 */

#ifndef JOYSTICK_HPP_
#define JOYSTICK_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <tk_behavior/Behavior.hpp>

#include <telekyb_base/Spaces/Angle.hpp>

// plugin stuff
#include <pluginlib/class_list_macros.h>

// sensormsgs
#include <sensor_msgs/Joy.h>

using namespace TELEKYB_NAMESPACE;

namespace telekyb_behavior {

class Joystick : public Behavior {
protected:
        Option<std::string>* tJoystickTopic;
        Option<bool>* tJoystickUsePositionMode;
        Option<double>* tJoystickYawRateScale;

        //input is interpreted in local frame!
        Option<bool>* tJoystickUseRelativeMode;
        //disable dead man switch?
        Option<bool>* tJoystickUseDeadManSwitch;

        // ROS
        ros::NodeHandle nodeHandle;
        ros::Subscriber joySub;

        void joystickCB(const sensor_msgs::Joy::ConstPtr& msg);

        Velocity3D lastVelocityInput;
        double lastYawRateInput;

        // Integrated Position for Velocity Mode
        Position3D posModeCurPosition;
        Angle posModeCurYawAngle;
        Time posModeLastInputTime;

        // Outputfield
        bool valid;

public:
        Joystick();

        virtual void initialize();
        virtual void destroy();

        // Called directly after Change Event is registered.
        virtual bool willBecomeActive(const TKState& currentState, const Behavior& previousBehavior);
        // Called after actual Switch. Note: During execution trajectoryStepCreation is used
        virtual void didBecomeActive(const TKState& currentState, const Behavior& previousBehavior);
        // Called directly after Change Event is registered: During execution trajectoryStepTermination is used
        virtual void willBecomeInActive(const TKState& currentState, const Behavior& nextBehavior);
        // Called after actual Switch. Runs in seperate Thread.
        virtual void didBecomeInActive(const TKState& currentState, const Behavior& nextBehavior);

        // called everytime a new TKState is available AND it is the NEW Behavior of an active Switch
        virtual void trajectoryStepCreation(const TKState& currentState, TKTrajectory& generatedTrajInput);

        // called everytime a new TKState is available. Should return false if invalid (swtich to next behavior, or Hover if undef).
        virtual void trajectoryStepActive(const TKState& currentState, TKTrajectory& generatedTrajInput);

        // called everytime a new TKState is available AND it is the OLD Behavior of an active Switch
        virtual void trajectoryStepTermination(const TKState& currentState, TKTrajectory& generatedTrajInput);

        // Return true if the active Behavior is (still) valid. Initiate Switch otherwise
        virtual bool isValid(const TKState& currentState) const;
};

}

#endif /* JOYSTICK_HPP_ */