joint_trajectory_streamer.h
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00001 /*
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00031 
00032 #ifndef JOINT_TRAJECTORY_STREAMER_H
00033 #define JOINT_TRAJECTORY_STREAMER_H
00034 
00035 #include <boost/thread/thread.hpp>
00036 #include "industrial_robot_client/joint_trajectory_interface.h"
00037 
00038 namespace industrial_robot_client
00039 {
00040 namespace joint_trajectory_streamer
00041 {
00042 
00043 using industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface;
00044 using industrial::joint_traj_pt_message::JointTrajPtMessage;
00045 using industrial::smpl_msg_connection::SmplMsgConnection;
00046 
00047 namespace TransferStates
00048 {
00049 enum TransferState
00050 {
00051   IDLE = 0, STREAMING =1 //,STARTING, //, STOPPING
00052 };
00053 }
00054 typedef TransferStates::TransferState TransferState;
00055 
00060 //* JointTrajectoryStreamer
00066 class JointTrajectoryStreamer : public JointTrajectoryInterface
00067 {
00068 
00069 public:
00070 
00071   // since this class defines a different init(), this helps find the base-class init()
00072   using JointTrajectoryInterface::init;
00073 
00079   JointTrajectoryStreamer(int min_buffer_size = 1) : min_buffer_size_(min_buffer_size) {};
00080 
00093   virtual bool init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names,
00094                     const std::map<std::string, double> &velocity_limits = std::map<std::string, double>());
00095 
00096   ~JointTrajectoryStreamer();
00097 
00098   virtual void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);
00099 
00100   virtual bool trajectory_to_msgs(const trajectory_msgs::JointTrajectoryConstPtr &traj, std::vector<JointTrajPtMessage>* msgs);
00101 
00102   void streamingThread();
00103 
00104   bool send_to_robot(const std::vector<JointTrajPtMessage>& messages);
00105 
00106 protected:
00107 
00108   void trajectoryStop();
00109 
00110   boost::thread* streaming_thread_;
00111   boost::mutex mutex_;
00112   int current_point_;
00113   std::vector<JointTrajPtMessage> current_traj_;
00114   TransferState state_;
00115   ros::Time streaming_start_;
00116   int min_buffer_size_;
00117 };
00118 
00119 } //joint_trajectory_streamer
00120 } //industrial_robot_client
00121 
00122 #endif /* JOINT_TRAJECTORY_STREAMER_H */


industrial_robot_client
Author(s): Jeremy Zoss
autogenerated on Tue Jan 17 2017 21:10:11