TrajectoryInput.hpp

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/*
 * TrajectoryInput.hpp
 *
 *  Created on: Mar 2, 2012
 *      Author: mriedel
 */

#ifndef TRAJECTORYINPUT_HPP_
#define TRAJECTORYINPUT_HPP_


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

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



// Timer
#include <telekyb_base/Time.hpp>

using namespace TELEKYB_NAMESPACE;

namespace telekyb_behavior {

class TrajectoryInput : public Behavior {
protected:
        Option<std::string>* tTrajectoryTopicName;
        Option<double>* tTrajectoryTimeout;

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

        // Timer
        Timer timeoutTimer;

        // Last Trajectory Msgs
        TKTrajectory lastMsg;
//      telekyb_msgs::TKTrajectory lastMsg;

        // CB
        void trajectoryCB(const telekyb_msgs::TKTrajectory::ConstPtr& msg);

public:
        TrajectoryInput();
        virtual ~TrajectoryInput();

        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 /* TRAJECTORYINPUT_HPP_ */