controller_base.h

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// Copyright (C) 2012, hiDOF INC.
//
// 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 hiDOF, 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 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: Wim Meeussen
 */
 
#pragma once
 
 
#include <ros/node_handle.h>
#include <hardware_interface/robot_hw.h>
#include <memory>
 
namespace controller_interface
{
 
class ControllerBase
{
public:
  ControllerBase() = default;
  virtual ~ControllerBase() = default;
  ControllerBase(const ControllerBase&) = delete;
  ControllerBase& operator=(const ControllerBase&) = delete;
  ControllerBase(ControllerBase&&) = delete;
  ControllerBase& operator=(ControllerBase&&) = delete;
 
  virtual void starting(const ros::Time& /*time*/) {}
 
  virtual void update(const ros::Time& time, const ros::Duration& period) = 0;
 
  virtual void stopping(const ros::Time& /*time*/) {}
 
  virtual void waiting(const ros::Time& /*time*/) {}
 
  virtual void aborting(const ros::Time& /*time*/) {}
 
  bool isInitialized() const
  {
    return state_ == ControllerState::INITIALIZED;
  }
 
  bool isRunning() const
  {
    return state_ == ControllerState::RUNNING;
  }
 
  bool isStopped() const
  {
    return state_ == ControllerState::STOPPED;
  }
 
  bool isWaiting() const
  {
    return state_ == ControllerState::WAITING;
  }
 
  bool isAborted() const
  {
    return state_ == ControllerState::ABORTED;
  }
 
  void updateRequest(const ros::Time& time, const ros::Duration& period)
  {
    if (state_ == ControllerState::RUNNING)
    {
      update(time, period);
    }
  }
 
  bool startRequest(const ros::Time& time)
  {
    // start works from any state, except CONSTRUCTED
    if (state_ != ControllerState::CONSTRUCTED)
    {
      starting(time);
      state_ = ControllerState::RUNNING;
      return true;
    }
    else
    {
      ROS_FATAL("Failed to start controller. It is not initialized.");
      return false;
    }
  }
 
  bool stopRequest(const ros::Time& time)
  {
    // stop works from any state, except CONSTRUCTED
    if (state_ != ControllerState::CONSTRUCTED)
    {
      stopping(time);
      state_ = ControllerState::STOPPED;
      return true;
    }
    else
    {
      ROS_FATAL("Failed to stop controller. It is not initialized.");
      return false;
    }
  }
 
  bool waitRequest(const ros::Time& time)
  {
    // wait works from any state, except CONSTRUCTED
    if (state_ != ControllerState::CONSTRUCTED)
    {
      waiting(time);
      state_ = ControllerState::WAITING;
      return true;
    }
    else
    {
      ROS_FATAL("Failed to wait controller. It is not initialized.");
      return false;
    }
  }
 
  bool abortRequest(const ros::Time& time)
  {
    // abort works from any state, except CONSTRUCTED
    if (state_ != ControllerState::CONSTRUCTED)
    {
      aborting(time);
      state_ = ControllerState::ABORTED;
      return true;
    }
    else
    {
      ROS_FATAL("Failed to abort controller. It is not initialized.");
      return false;
    }
  }
 
  /*\}*/
 
  typedef std::vector<hardware_interface::InterfaceResources> ClaimedResources;
 
  virtual bool initRequest(hardware_interface::RobotHW* robot_hw,
                           ros::NodeHandle&             root_nh,
                           ros::NodeHandle&             controller_nh,
                           ClaimedResources&            claimed_resources) = 0;
 
  /*\}*/
 
  enum class ControllerState
  {
    CONSTRUCTED,
    INITIALIZED,
    RUNNING,
    STOPPED,
    WAITING,
    ABORTED
  };
 
  ControllerState state_ = ControllerState::CONSTRUCTED;
 
};
 
typedef std::shared_ptr<ControllerBase> ControllerBaseSharedPtr;
 
}