HLExecControl.cpp

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 *  Author: Dula Nad
 *  Created: 11.07.2013.
 *********************************************************************/
#include "HLExecControl.hpp"
#include <labust_uvapp/EnableControl.h>

using namespace labust::control;
HLExecControl::HLExecControl(){this->onInit();};

void HLExecControl::onInit()
{
        for (int i=0; i<active_dofs.size(); ++i)         active_dofs[i]="";
        ros::NodeHandle nh;
        //Configure service
        registerServer = nh.advertiseService("RegisterController",
                        &HLExecControl::onRegReq, this);

        nuIn = nh.subscribe<auv_msgs::BodyVelocityReq>("nuRef", 1,
                        &HLExecControl::onNuIn,this);
        cntSel = nh.subscribe<std_msgs::String>("controller_select", 1,
                        &HLExecControl::onControllerSelect,this);

        nuRef = nh.advertise<auv_msgs::BodyVelocityReq>("nuRefMerged", 1);
}

bool HLExecControl::onRegReq(labust_uvapp::RegisterController::Request& req,
                                        labust_uvapp::RegisterController::Response& resp)
{
        std::string name(req.__connection_header->at("callerid"));
        ROS_INFO("Registration request from node %s.",req.info.name.c_str());
        for(int i=0; i<req.info.dofs.size(); ++i)
        {
                ROS_INFO("DOF %d.",req.info.dofs[i]);
        }
        controllers[req.info.name] = req.info;

        return true;
}

void HLExecControl::onControllerSelect(const std_msgs::String::ConstPtr& name)
{
        if (controllers.find(name->data) == controllers.end())
        {
                ROS_INFO("Controller %s was not registered.",name->data.c_str());
                return;
        }

        std::vector<std::string> disableControllers;
        std::vector<std::string> enableControllers;

        labust_uvapp::ControllerInfo& info = controllers[name->data];

        for(int i=0; i<info.dofs.size(); ++i)
        {
                int reqDOF = info.dofs[i];
                ROS_INFO("Degree of freedom %d",reqDOF);
                if (active_dofs[reqDOF] != "")
                {
                        disableControllers.push_back(active_dofs[reqDOF]);
                        //schedule all sub-controllers of the disable controller for disable
                        disableControllers.insert(disableControllers.end(),
                                                                controllers[active_dofs[reqDOF]].sub_controllers.begin(),
                                                                controllers[active_dofs[reqDOF]].sub_controllers.end());
                 }
                active_dofs[reqDOF] = name->data;
        }

        enableControllers.push_back(name->data);
        for (int i=0; i<info.sub_controllers.size(); ++i)
        {
                //TEST IF REQUEIRED SUB-CONTROLLER IS REGISTERED
                enableControllers.push_back(info.sub_controllers[i]);
        }

        ros::NodeHandle nh;
        for (int i=0; i<disableControllers.size(); ++i)
        {
                ros::ServiceClient client = nh.serviceClient<labust_uvapp::EnableControl>(disableControllers[i] + "_enable");
                labust_uvapp::EnableControl srv;
                srv.request.enable = false;
                if (!client.call(srv))
                {
                        ROS_ERROR("Failed to call the %s configuration service.",disableControllers[i].c_str());
                }
        };

        for (int i=0; i<enableControllers.size(); ++i)
        {
                ros::ServiceClient client = nh.serviceClient<labust_uvapp::EnableControl>(enableControllers[i] + "_enable");
                labust_uvapp::EnableControl srv;
                srv.request.enable = true;
                if (!client.call(srv))
                {
                        ROS_ERROR("Failed to call the %s configuration service.",enableControllers[i].c_str());
                }
        };
}

void HLExecControl::onNuIn(const auv_msgs::BodyVelocityReq::ConstPtr& nu)
{
        std::string name(nu->__connection_header->at("callerid"));
        if (controllers.find(name) == controllers.end())
        {
                ROS_INFO("Controller %s was not registered.",name.c_str());
        }
        //auv_msgs::BodyVelocityReq::Ptr merged(new auv_msgs::BodyVelocityReq());
}

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"execution_control");
        //Initialize
        HLExecControl exec;
        //Start execution.
        ros::spin();
        return 0;
}