teo_hri_teleop_alg_node.cpp

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#include "teo_hri_teleop_alg_node.h"

#include <wiimote/State.h>

TeoHriTeleopAlgNode::TeoHriTeleopAlgNode(void) :
  algorithm_base::IriBaseAlgorithm<TeoHriTeleopAlgorithm>()
{
  //init class attributes if necessary
  //this->loop_rate_ = 2;//in [Hz]

  // [init publishers]
  
  // [init subscribers]
  joy_subscriber_ = public_node_handle_.subscribe("joy", 100, &TeoHriTeleopAlgNode::joy_callback, this);
  
  // [init services]
  
  // [init clients]
  get_3d_scan_client_ = public_node_handle_.serviceClient<iri_hokuyo_laser3d::Get3DScan>("get_3d_scan");
  
  // [init action servers]
  
  // [init action clients]
}

TeoHriTeleopAlgNode::~TeoHriTeleopAlgNode(void)
{
  // [free dynamic memory]
}

void TeoHriTeleopAlgNode::mainNodeThread(void)
{
  // [fill msg structures]
  
  // [fill srv structure and make request to the server]
 
  // [fill action structure and make request to the action server]

  // [publish messages]
}

/*  [subscriber callbacks] */
void TeoHriTeleopAlgNode::joy_callback(const sensor_msgs::Joy::ConstPtr& msg) 
{ 
  //ROS_INFO("TeoHriTeleopAlgNode::joy_callback: New Message Received"); 

  //use appropiate mutex to shared variables if necessary 
  //this->alg_.lock(); 
  //this->joy_mutex_.enter(); 

  //std::cout << msg->data << std::endl; 

  static bool first=true;
  
  if(first)
  {
    prev_buttons_.resize(msg->buttons.size());
    first=false;
  }

  for(unsigned int i=0; i<msg->buttons.size(); i++)
  {
    if(msg->buttons[i]==1 && prev_buttons_[i]==0)
      useExtraButton(i);
  }
 
  prev_buttons_ = msg->buttons;

  //unlock previously blocked shared variables 
  //this->alg_.unlock(); 
  //this->joy_mutex_.exit(); 
}

bool TeoHriTeleopAlgNode::useExtraButton(const unsigned int & index)
{
  ROS_DEBUG("Teo wiimote use extra Button");

  switch(index)
  {
    case wiimote::State::MSG_BTN_1:
      ROS_DEBUG("Button 1!");
      break;

    case wiimote::State::MSG_BTN_2:
      ROS_DEBUG("Button 2!");
      break;

    case wiimote::State::MSG_BTN_A:
      ROS_DEBUG("Button A!");
      break;

    case wiimote::State::MSG_BTN_B:
      ROS_DEBUG("Button B!");
      break;

    case wiimote::State::MSG_BTN_PLUS:
      ROS_DEBUG("Button (+)!");
      break;

    case wiimote::State::MSG_BTN_MINUS:
      ROS_DEBUG("Button (-)!");
      break;

    case wiimote::State::MSG_BTN_LEFT:
      ROS_DEBUG("Button LEFT!");
      break;

    case wiimote::State::MSG_BTN_RIGHT:
      ROS_DEBUG("Button RIGHT!");
      break;

    case wiimote::State::MSG_BTN_UP:
      ROS_DEBUG("Life UP!");
      break;

    case wiimote::State::MSG_BTN_DOWN:
      ROS_DEBUG("Button DOWN!");
      break;

    // case wiimote::State::MSG_BTN_Z:
    //   ROS_DEBUG("Dragon Ball Z!");
    //   break;

    // case wiimote::State::MSG_BTN_C:
    //   ROS_DEBUG("Button C!");
    //   break;

    case wiimote::State::MSG_BTN_HOME:

      ROS_DEBUG("Button Home!");
      get_3d_scan_srv_.request.request = 1; 
      ROS_DEBUG("TeoHriTeleopAlgNode:: Sending New Request!"); 
      if (get_3d_scan_client_.call(get_3d_scan_srv_)) 
      { 
        ROS_DEBUG("TeoHriTeleopAlgNode:: Response"); 
      } 
      else 
      { 
        ROS_WARN("TeoHriTeleopAlgNode:: Failed to Call Server on topic get_3d_scan "); 
      }

      break;

    default:
      ROS_DEBUG("Button UNDEFINED!");
      break;
  }
  return true;

}

/*  [service callbacks] */

/*  [action callbacks] */

/*  [action requests] */

void TeoHriTeleopAlgNode::node_config_update(Config &config, uint32_t level)
{
  this->alg_.lock();

  this->alg_.unlock();
}

void TeoHriTeleopAlgNode::addNodeDiagnostics(void)
{
}

/* main function */
int main(int argc,char *argv[])
{
  return algorithm_base::main<TeoHriTeleopAlgNode>(argc, argv, "teo_hri_teleop_alg_node");
}