tibi_coop_alg_node.h

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// Copyright (C) 2010-2011 Institut de Robotica i Informatica Industrial, CSIC-UPC.
// Author 
// All rights reserved.
//
// This file is part of iri-ros-pkg
// iri-ros-pkg is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
// 
// IMPORTANT NOTE: This code has been generated through a script from the 
// iri_ros_scripts. Please do NOT delete any comments to guarantee the correctness
// of the scripts. ROS topics can be easly add by using those scripts. Please
// refer to the IRI wiki page for more information:
// http://wikiri.upc.es/index.php/Robotics_Lab

#ifndef _tibi_coop_alg_node_h_
#define _tibi_coop_alg_node_h_

#include <iri_base_algorithm/iri_base_algorithm.h>
#include "tibi_coop_alg.h"

// [publisher subscriber headers]
#include <sensor_msgs/Joy.h>

// [service client headers]
#include <iri_goal_database/get_goal.h>

// [action server client headers]
#include <tibi_dabo_msgs/guideGoalAction.h>
#include <iri_action_server/iri_action_server.h>
#include <tibi_dabo_msgs/guiAction.h>
#include <move_base_msgs/MoveBaseAction.h>
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <tibi_dabo_msgs/sequenceAction.h>

typedef enum {tibi_idle,tibi_wait_bored,tibi_wait_intro,tibi_set_car_goal,tibi_wait_guiding,tibi_wait_no_car,tibi_delay,tibi_wait_done,
              tibi_wait_car,tibi_wait_dabo,tibi_wait_home,tibi_wait_car_home} tibi_states;

typedef enum {gui_none=-1,gui_set_goal=0,gui_cancel_goal} gui_cmds;

typedef enum {car_none=-1,car_set_goal=0} car_cmds;

typedef enum {dabo_none=-1,dabo_set_goal=0,dabo_car_done} dabo_cmds;

typedef enum {tibi_none=-1,tibi_set_goal=0,tibi_car_done} tibi_cmds;

typedef enum {joy_none=-1,joy_cancel_goal=0,joy_replan_goal,joy_teleop} joy_cmds;

class TibiCoopAlgNode : public algorithm_base::IriBaseAlgorithm<TibiCoopAlgorithm>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]
    ros::Subscriber supervisor_subscriber_;
    void supervisor_callback(const sensor_msgs::Joy::ConstPtr& msg);
    CMutex supervisor_mutex_;
    bool new_joy_cmd;
    joy_cmds joy_cmd;

    // [service attributes]

    // [client attributes]
    ros::ServiceClient get_goal_client_;
    iri_goal_database::get_goal get_goal_srv_;

    // [action server attributes]
    IriActionServer<tibi_dabo_msgs::guiAction> car_tibi_action_aserver_;
    void car_tibi_actionStartCallback(const tibi_dabo_msgs::guiGoalConstPtr& goal);
    void car_tibi_actionStopCallback(void);
    bool car_tibi_actionIsFinishedCallback(void);
    bool car_tibi_actionHasSucceedCallback(void);
    void car_tibi_actionGetResultCallback(tibi_dabo_msgs::guiResultPtr& result);
    void car_tibi_actionGetFeedbackCallback(tibi_dabo_msgs::guiFeedbackPtr& feedback);
    bool new_car_cmd;
    tibi_cmds car_cmd;

    IriActionServer<tibi_dabo_msgs::guiAction> dabo_tibi_action_aserver_;
    void dabo_tibi_actionStartCallback(const tibi_dabo_msgs::guiGoalConstPtr& goal);
    void dabo_tibi_actionStopCallback(void);
    bool dabo_tibi_actionIsFinishedCallback(void);
    bool dabo_tibi_actionHasSucceedCallback(void);
    void dabo_tibi_actionGetResultCallback(tibi_dabo_msgs::guiResultPtr& result);
    void dabo_tibi_actionGetFeedbackCallback(tibi_dabo_msgs::guiFeedbackPtr& feedback);
    bool new_dabo_cmd;
    tibi_cmds dabo_cmd;
    std::string dabo_location_id;

    IriActionServer<tibi_dabo_msgs::guiAction> gui_action_aserver_;
    void gui_actionStartCallback(const tibi_dabo_msgs::guiGoalConstPtr& goal);
    void gui_actionStopCallback(void);
    bool gui_actionIsFinishedCallback(void);
    bool gui_actionHasSucceedCallback(void);
    void gui_actionGetResultCallback(tibi_dabo_msgs::guiResultPtr& result);
    void gui_actionGetFeedbackCallback(tibi_dabo_msgs::guiFeedbackPtr& feedback);
    bool new_gui_cmd;
    gui_cmds gui_cmd;
    std::string gui_location_id;

    // [action client attributes]
    actionlib::SimpleActionClient<tibi_dabo_msgs::guideGoalAction> move_guide_client_;
    tibi_dabo_msgs::guideGoalGoal move_guide_goal_;
    void move_guideMakeActionRequest();
    void move_guideDone(const actionlib::SimpleClientGoalState& state,  const tibi_dabo_msgs::guideGoalResultConstPtr& result);
    void move_guideActive();
    void move_guideFeedback(const tibi_dabo_msgs::guideGoalFeedbackConstPtr& feedback);
    bool move_guide_done;

    actionlib::SimpleActionClient<tibi_dabo_msgs::guiAction> tibi_car_action_client_;
    tibi_dabo_msgs::guiGoal tibi_car_action_goal_;
    bool tibi_car_actionMakeActionRequest();
    void tibi_car_actionDone(const actionlib::SimpleClientGoalState& state,  const tibi_dabo_msgs::guiResultConstPtr& result);
    void tibi_car_actionActive();
    void tibi_car_actionFeedback(const tibi_dabo_msgs::guiFeedbackConstPtr& feedback);
    bool tibi_car_action_done;

    actionlib::SimpleActionClient<move_base_msgs::MoveBaseAction> move_base_client_;
    move_base_msgs::MoveBaseGoal move_base_goal_;
    bool move_baseMakeActionRequest();
    void move_baseDone(const actionlib::SimpleClientGoalState& state,  const move_base_msgs::MoveBaseResultConstPtr& result);
    void move_baseActive();
    void move_baseFeedback(const move_base_msgs::MoveBaseFeedbackConstPtr& feedback);
    bool move_base_done;

    actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> hri_client_client_;
    tibi_dabo_msgs::sequenceGoal hri_client_goal_;
    bool hri_clientMakeActionRequest();
    void hri_clientDone(const actionlib::SimpleClientGoalState& state,  const tibi_dabo_msgs::sequenceResultConstPtr& result);
    void hri_clientActive();
    void hri_clientFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback);
    bool hri_client_done;

    // [class attributes]
    tibi_states current_state;
    std::vector< std::vector < std::string > > sentences;

    void loadSentences();

  public:
    TibiCoopAlgNode(void);

    ~TibiCoopAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]
    
    // [test functions]
};

#endif