controller.h

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/*
 * Copyright (c) 2014-2015, Fetch Robotics 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 the Fetch Robotics Inc. 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 FETCH ROBOTICS INC. 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: Michael Ferguson

#ifndef ROBOT_CONTROLLERS_INTERFACE_CONTROLLER_H
#define ROBOT_CONTROLLERS_INTERFACE_CONTROLLER_H

#include <string>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <ros/ros.h>
#include <robot_controllers_interface/handle.h>

namespace robot_controllers
{

// Forward define
class ControllerManager;

class Controller : public Handle
{
public:
  Controller()
  {
  }

  virtual ~Controller()
  {
  }

  virtual int init(ros::NodeHandle& nh, ControllerManager* manager)
  {
    name_ = nh.getNamespace();
    // remove leading slash
    if (name_.at(0) == '/')
      name_.erase(0, 1);
    return 0;
  }

  virtual bool start() = 0;

  virtual bool stop(bool force) = 0;

  virtual bool reset() = 0;

  virtual void update(const ros::Time& time, const ros::Duration& dt) = 0;

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

  virtual std::string getType()
  {
    return "UnknownType";
  }

  virtual std::vector<std::string> getCommandedNames() = 0;

  virtual std::vector<std::string> getClaimedNames() = 0;

private:
  std::string name_;
};

// Some typedefs
typedef boost::shared_ptr<Controller> ControllerPtr;

}  // namespace robot_controllers

#endif  // ROBOT_CONTROLLERS_INTERFACE_CONTROLLER_H