tibi_dabo_conversation_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_dabo_conversation_alg_node_h_
#define _tibi_dabo_conversation_alg_node_h_

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

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

// [service client headers]
#include <tibi_dabo_conversation/conversation.h>

// [action server client headers]
#include <actionlib/client/simple_action_client.h>
#include <actionlib/client/terminal_state.h>
#include <tibi_dabo_msgs/sequenceAction.h>

class TibiDaboConversationAlgNode : public algorithm_base::IriBaseAlgorithm<TibiDaboConversationAlgorithm>
{
  private:
    // [publisher attributes]

    // [subscriber attributes]
    ros::Subscriber joy_subscriber_;
    void joy_callback(const sensor_msgs::Joy::ConstPtr& joy_msg);
    CMutex joy_mutex_;

    // [service attributes]
    ros::ServiceServer conversation_server_;
    bool conversationCallback(tibi_dabo_conversation::conversation::Request &req, tibi_dabo_conversation::conversation::Response &res);
    CMutex conversation_mutex_;

    // [client attributes]
    ros::ServiceClient conversation_client_;
    tibi_dabo_conversation::conversation conversation_srv_;

    // [action server attributes]

    // [action client attributes]
    actionlib::SimpleActionClient<tibi_dabo_msgs::sequenceAction> hri_client_;
    tibi_dabo_msgs::sequenceGoal hri_goal_;
    void hriMakeActionRequest(std::vector<std::string> &sequences);
    void hriDone(const actionlib::SimpleClientGoalState& state,  const tibi_dabo_msgs::sequenceResultConstPtr& result);
    void hriActive();
    void hriFeedback(const tibi_dabo_msgs::sequenceFeedbackConstPtr& feedback);

    std::string robot;
    int buttonIndex;
    std::vector<int> prev_buttons_;
    std::vector<std::string> button_files_;
    std::vector<std::string> sequences;

    bool hri_action_in_progress_;
    typedef enum {TTS_=0,LEDS_=1,HEAD_=2,LEFT_ARM_=3,RIGHT_ARM_=4} clients;
    static const int NUM_CLIENTS=RIGHT_ARM_-TTS_+1;

    std::vector<std::vector<std::string> > sentences;
    int index;

    int useExtraButton(const unsigned int & index);
    void loadSentences();

  public:
    TibiDaboConversationAlgNode(void);

    ~TibiDaboConversationAlgNode(void);

  protected:
    void mainNodeThread(void);

    void node_config_update(Config &config, uint32_t level);

    void addNodeDiagnostics(void);

    // [diagnostic functions]

    // [test functions]
};

#endif