controller_manager.h

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2012, Willow Garage, Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Willow Garage nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

/* Author: Ioan Sucan */

#ifndef MOVEIT_MOVEIT_CONTROLLER_MANAGER_
#define MOVEIT_MOVEIT_CONTROLLER_MANAGER_

#include <vector>
#include <string>
#include <boost/shared_ptr.hpp>
#include <moveit_msgs/RobotTrajectory.h>

namespace moveit_controller_manager
{

struct ExecutionStatus
{
  enum Value
    {
      UNKNOWN, RUNNING, SUCCEEDED, PREEMPTED, TIMED_OUT, ABORTED, FAILED
    };

  ExecutionStatus(Value value = UNKNOWN) : status_(value)
  {
  }

  operator Value() const
  {
    return status_;
  }

  operator bool() const
  {
    return status_ == SUCCEEDED;
  }

  std::string asString() const
  {
    switch (status_)
    {
    case RUNNING:
      return "RUNNING";
    case SUCCEEDED:
      return "SUCCEEDED";
    case PREEMPTED:
      return "PREEMPTED";
    case TIMED_OUT:
      return "TIMED_OUT";
    case ABORTED:
      return "ABORTED";
    case FAILED:
      return "FAILED";
    default:
      return "UNKNOWN";
    }
  }
private:
  Value status_;
};

class MoveItControllerHandle
{
public:

  MoveItControllerHandle(const std::string &name) : name_(name)
  {
  }

  virtual ~MoveItControllerHandle()
  {
  }

  const std::string& getName() const
  {
    return name_;
  }

  virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory &trajectory) = 0;

  virtual bool cancelExecution() = 0;

  virtual bool waitForExecution(const ros::Duration &timeout = ros::Duration(0)) = 0;

  virtual ExecutionStatus getLastExecutionStatus() = 0;

protected:

  std::string name_;

};

typedef boost::shared_ptr<MoveItControllerHandle> MoveItControllerHandlePtr;
typedef boost::shared_ptr<const MoveItControllerHandle> MoveItControllerHandleConstPtr;

class MoveItControllerManager
{
public:

  struct ControllerState
  {
    ControllerState() : active_(false),
                        default_(false)
    {
    }

    bool active_;

    bool default_;
  };

  MoveItControllerManager()
  {
  }

  virtual ~MoveItControllerManager()
  {
  }

  virtual MoveItControllerHandlePtr getControllerHandle(const std::string &name) = 0;

  virtual void getControllersList(std::vector<std::string> &names) = 0;

  virtual void getActiveControllers(std::vector<std::string> &names) = 0;

  virtual void getControllerJoints(const std::string &name, std::vector<std::string> &joints) = 0;

  virtual ControllerState getControllerState(const std::string &name) = 0;

  virtual bool switchControllers(const std::vector<std::string> &activate, const std::vector<std::string> &deactivate) = 0;
};

typedef boost::shared_ptr<MoveItControllerManager> MoveItControllerManagerPtr;
typedef boost::shared_ptr<const MoveItControllerManager> MoveItControllerManagerConstPtr;

}

#endif