controller_manager.h
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00001 /*
00002  * Copyright (c) 2014-2016, Fetch Robotics Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Fetch Robotics Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  * 
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL FETCH ROBOTICS INC. BE LIABLE FOR ANY
00021  * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00022  * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00023  * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00024  * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00025  * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF
00026  * THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00027  */
00028 
00029 // Author: Michael Ferguson
00030 
00031 #ifndef ROBOT_CONTROLLERS_INTERFACE_CONTROLLER_MANAGER_H
00032 #define ROBOT_CONTROLLERS_INTERFACE_CONTROLLER_MANAGER_H
00033 
00034 #include <string>
00035 #include <ros/ros.h>
00036 #include <actionlib/server/simple_action_server.h>
00037 
00038 #include <robot_controllers_msgs/QueryControllerStatesAction.h>
00039 
00040 #include <robot_controllers_interface/joint_handle.h>
00041 #include <robot_controllers_interface/controller.h>
00042 #include <robot_controllers_interface/controller_loader.h>
00043 
00044 namespace robot_controllers
00045 {
00046 
00048 class ControllerManager
00049 {
00050   typedef actionlib::SimpleActionServer<robot_controllers_msgs::QueryControllerStatesAction> server_t;
00051 
00052   typedef std::vector<ControllerLoaderPtr> ControllerList;
00053   typedef std::vector<JointHandlePtr> JointHandleList;
00054 
00055 public:
00056   ControllerManager();
00057 
00059   virtual ~ControllerManager()
00060   {
00061   }
00062 
00070   virtual int init(ros::NodeHandle& nh);
00071 
00073   virtual int requestStart(const std::string& name);
00074 
00076   virtual int requestStop(const std::string& name);
00077 
00079   virtual void update(const ros::Time& time, const ros::Duration& dt);
00080 
00082   virtual void reset();
00083 
00085   bool addJointHandle(JointHandlePtr& j);
00086 
00091   HandlePtr getHandle(const std::string& name);
00092 
00099   JointHandlePtr getJointHandle(const std::string& name);
00100 
00101 private:
00103   void execute(const robot_controllers_msgs::QueryControllerStatesGoalConstPtr& goal);
00104 
00106   void getState(robot_controllers_msgs::QueryControllerStatesResult& result);
00107 
00109   bool load(const std::string& name);
00110 
00111   ControllerList controllers_;
00112   JointHandleList joints_;
00113 
00114   boost::shared_ptr<server_t> server_;
00115 };
00116 
00117 }  // namespace robot_controllers
00118 
00119 #endif  // ROBOT_CONTROLLERS_INTERFACE_CONTROLLER_MANAGER_H


robot_controllers_interface
Author(s): Michael Ferguson
autogenerated on Thu Jun 6 2019 21:50:24