HLManager.hpp

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*  Created on: 06.05.2013.
*  Author: Dula Nad
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#ifndef HLMANAGER_HPP_
#define HLMANAGER_HPP_
#include <navcon_msgs/SetHLMode.h>
#include <navcon_msgs/HLMessage.h>

#include <std_msgs/Bool.h>
#include <geometry_msgs/PointStamped.h>
#include <auv_msgs/NavSts.h>
#include <sensor_msgs/NavSatFix.h>
#include <sensor_msgs/Imu.h>
#include <tf/transform_broadcaster.h>

#include <ros/ros.h>
#include <boost/thread/mutex.hpp>

#include <map>
#include <string>

namespace labust
{
        namespace control
        {
                class HLManager
                {
                        enum {bArt=0, cArt};
                        enum {stop=0, manual,
                                gotoPoint, stationKeeping, circle, heading, headingSurge, vtManual, lastMode};

                        typedef std::map<std::string,bool> ControllerMap;

                public:
                        HLManager();
                        void onInit();
                        void start();

                private:
                        void onVehicleEstimates(const auv_msgs::NavSts::ConstPtr& estimate);
                        bool setHLMode(navcon_msgs::SetHLMode::Request& req, navcon_msgs::SetHLMode::Response& resp);
                        void onLaunch(const std_msgs::Bool::ConstPtr& isLaunched);
                        void onGPSData(const sensor_msgs::NavSatFix::ConstPtr& fix);
                        void onVTTwist(const geometry_msgs::TwistStamped::ConstPtr& twist);
                        void onImuMeas(const sensor_msgs::Imu::ConstPtr& imu);
                        void safetyTest();
                        void bArtStep();
                        void step();
                        void calculateBArtPoint(double heading);
                        void disableControllerMap();
                        bool fullStop();
                        bool configureControllers();

                        ros::NodeHandle nh,ph;
                        ros::Time lastEst, launchTime, lastFix;
                        bool launchDetected;
                        double timeout;
                        int32_t mode, type;
                        geometry_msgs::PointStamped point;
                        auv_msgs::NavSts stateHat, trackPoint;
                        sensor_msgs::NavSatFix fix;
                        bool fixValidated;

                        double safetyRadius, safetyDistance, safetyTime, safetyTime2, gyroYaw;
                        double circleRadius, turnDir, s;
                        tf::TransformBroadcaster broadcaster;
                        double originLat, originLon;

                        ros::Publisher refPoint, refTrack, openLoopSurge, curMode, refHeading,
                        hlMessagePub, sfPub;
                        ros::Subscriber state, launch, gpsData, virtualTargetTwist, imuMeas;
                        ros::ServiceServer modeServer;
                        ControllerMap controllers;
                        navcon_msgs::HLMessage hlDiagnostics;
                };
        }
}
/* HLMANAGER_HPP_ */
#endif