abstract_recovery_execution.h

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/*
 *  Copyright 2018, Magazino GmbH, Sebastian Pütz, Jorge Santos Simón
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *  1. Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *
 *  2. 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.
 *
 *  3. Neither the name of the copyright holder 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 HOLDER 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.
 *
 *  abstract_recovery_execution.h
 *
 *  authors:
 *    Sebastian Pütz <spuetz@uni-osnabrueck.de>
 *    Jorge Santos Simón <santos@magazino.eu>
 *
 */

#ifndef MBF_ABSTRACT_NAV__ABSTRACT_RECOVERY_EXECUTION_H_
#define MBF_ABSTRACT_NAV__ABSTRACT_RECOVERY_EXECUTION_H_

#include <map>
#include <string>
#include <stdint.h>
#include <vector>

#include <tf/transform_listener.h>

#include <mbf_abstract_core/abstract_recovery.h>
#include <mbf_utility/types.h>

#include <mbf_utility/navigation_utility.h>

#include "mbf_abstract_nav/MoveBaseFlexConfig.h"
#include "mbf_abstract_nav/abstract_execution_base.h"


namespace mbf_abstract_nav
{
  class AbstractRecoveryExecution : public AbstractExecutionBase
  {
  public:

    typedef boost::shared_ptr<AbstractRecoveryExecution > Ptr;

    AbstractRecoveryExecution(const std::string name,
                              const mbf_abstract_core::AbstractRecovery::Ptr recovery_ptr,
                              const TFPtr &tf_listener_ptr,
                              const MoveBaseFlexConfig &config,
                              boost::function<void()> setup_fn,
                              boost::function<void()> cleanup_fn);

    virtual ~AbstractRecoveryExecution();

    bool isPatienceExceeded();

    virtual bool cancel();

    enum RecoveryState
    {
      INITIALIZED,   
      STARTED,       
      RECOVERING,    
      WRONG_NAME,    
      RECOVERY_DONE, 
      CANCELED,      
      STOPPED,       
      INTERNAL_ERROR 
    };

    AbstractRecoveryExecution::RecoveryState getState();

    void reconfigure(const MoveBaseFlexConfig &config);

  protected:

    virtual void run();

    mbf_abstract_core::AbstractRecovery::Ptr behavior_;

    const TFPtr tf_listener_ptr_;

  private:

    void setState(RecoveryState state);

    boost::mutex state_mtx_;

    boost::mutex conf_mtx_;
    boost::mutex time_mtx_;

    ros::Duration patience_;

    ros::Time start_time_;

    RecoveryState state_;
  };

} /* namespace mbf_abstract_nav */

#endif /* MBF_ABSTRACT_NAV__ABSTRACT_RECOVERY_EXECUTION_H_ */