HLControl.hpp

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 *  Created on: 26.06.2013.
 *  Author: Dula Nad
 *********************************************************************/
#ifndef HLCONTROL_HPP_
#define HLCONTROL_HPP_
#include <labust_uvapp/EnableControl.h>

#include <auv_msgs/NavSts.h>
#include <auv_msgs/BodyForceReq.h>
#include <auv_msgs/BodyVelocityReq.h>
#include <geometry_msgs/PointStamped.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Bool.h>
#include <ros/ros.h>

namespace labust
{
        namespace control
        {
                class WindupPolicy
                {
                public:
                        WindupPolicy()
                        {
                                ros::NodeHandle nh;
                                windupSub = nh.subscribe<auv_msgs::BodyForceReq>("tauAch", 1,
                                                &WindupPolicy::onWindup,this);
                        }

                        void onWindup(const auv_msgs::BodyForceReq::ConstPtr& tauAch)
                        {
                                ROS_INFO("Handle windup policy.");
                                this->tauAch = *tauAch;
                        }

                        template <class Base>
                        inline void get_windup(Base* b){b->windup(tauAch);};

                protected:
                        ros::Subscriber windupSub;
                        auv_msgs::BodyForceReq tauAch;
                };

                class EnablePolicy
                {
                public:
                        EnablePolicy():
                                enable(false)
                        {
                                ros::NodeHandle nh;
                                enableControl = nh.advertiseService("Enable",
                                                &EnablePolicy::onEnableControl, this);
                        }

                        bool onEnableControl(labust_uvapp::EnableControl::Request& req,
                                        labust_uvapp::EnableControl::Response& resp)
                        {
                                this->enable = req.enable;
                                return true;
                        }

                protected:
                        bool enable;
                        ros::ServiceServer enableControl;
                };

                struct NoEnable{static const bool enable=true;};
                struct NoWindup{
                        template <class Base>
                        inline void get_windup(Base b){};};

                template <
                class Controller,
                class Enable = NoEnable,
                class Windup = NoWindup,
                class OutputType = auv_msgs::BodyVelocityReq,
                class InputType = auv_msgs::NavSts
                >
                class HLControl : public Controller, Enable, Windup
                {
                public:
                        HLControl()
                        {
                                onInit();
                        }
                        void onInit()
                        {
                                ros::NodeHandle nh;
                                //Initialize publishers
                                refPub = nh.advertise<OutputType>("ref", 1);

                                //Initialze subscribers
                                stateSub = nh.subscribe<InputType>("state", 1,
                                                &HLControl::onEstimate,this);

                                Controller::init();
                        }

                private:

                        void onEstimate(const typename InputType::ConstPtr& estimate)
                        {
                                if (!Enable::enable) return;
                                //Copy into controller
                                typename OutputType::Ptr ref(new OutputType());
                                Windup::get_windup(this);
                                Controller::step(estimate, ref);
                                refPub.publish(ref);
                        }

                        ros::Publisher refPub;
                        ros::Subscriber stateSub;
                };
        }
}

/* HLCONTROL_HPP_ */
#endif