joint_relay_handler.h

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#ifndef JOINT_RELAY_HANDLER_H
#define JOINT_RELAY_HANDLER_H

#include <string>
#include <vector>

#include "ros/ros.h"
#include "control_msgs/FollowJointTrajectoryFeedback.h"
#include "sensor_msgs/JointState.h"
#include "simple_message/message_handler.h"
#include "simple_message/messages/joint_message.h"
#include "trajectory_msgs/JointTrajectoryPoint.h"

namespace industrial_robot_client
{
namespace joint_relay_handler
{

using industrial::joint_message::JointMessage;
using industrial::simple_message::SimpleMessage;
using trajectory_msgs::JointTrajectoryPoint;

class JointRelayHandler : public industrial::message_handler::MessageHandler
{

public:

  JointRelayHandler() {};


 virtual bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection, std::vector<std::string> &joint_names)
 {
   return init(connection, (int)industrial::simple_message::StandardMsgTypes::JOINT, joint_names);
 }

protected:

  std::vector<std::string> all_joint_names_;

  ros::Publisher pub_joint_control_state_;
  ros::Publisher pub_joint_sensor_state_;
  ros::NodeHandle node_;

  virtual bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection,
                    int msg_type, std::vector<std::string> &joint_names);


  virtual bool create_messages(SimpleMessage& msg_in,
                               control_msgs::FollowJointTrajectoryFeedback* control_state,
                               sensor_msgs::JointState* sensor_state);

  virtual bool convert_message(SimpleMessage& msg_in, JointTrajectoryPoint* joint_state);

  virtual bool transform(const JointTrajectoryPoint& state_in, JointTrajectoryPoint* state_out)
  {
    *state_out = state_in;  // by default, no transform is applied
    return true;
  }

  virtual bool select(const JointTrajectoryPoint& all_joint_state, const std::vector<std::string>& all_joint_names,
                      JointTrajectoryPoint* pub_joint_state, std::vector<std::string>* pub_joint_names);

  bool internalCB(SimpleMessage& in);

private:
  bool convert_message(JointMessage& msg_in, JointTrajectoryPoint* joint_state);

};//class JointRelayHandler

}//joint_relay_handler
}//industrial_robot_cliet


#endif /* JOINT_RELAY_HANDLER_H */