BehaviorControllerInterface.hpp

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/*
 * BehaviorInterface.hpp
 *
 *  Created on: Nov 10, 2011
 *      Author: mriedel
 */

#ifndef BEHAVIORCONTROLLERINTERFACE_HPP_
#define BEHAVIORCONTROLLERINTERFACE_HPP_

#include <telekyb_defines/telekyb_defines.hpp>
#include <ros/ros.h>

// BehaviorContainer. Contains UserBehaviors that are loaded at runtime
#include <tk_behavior/BehaviorContainer.hpp>

// Services
#include <telekyb_srvs/StringArrayOutput.h>
#include <telekyb_srvs/BehaviorInput.h>
#include <telekyb_srvs/BehaviorOutput.h>
#include <telekyb_srvs/BehaviorInputOutput.h>

#include <std_srvs/Empty.h>

namespace TELEKYB_NAMESPACE {

// Forward Declaration
class BehaviorController;


class BehaviorControllerInterface {
protected:
        // the Controller
        BehaviorController& behaviorController;

        // the Container
        BehaviorContainer behaviorContainer;

        // NodeHandle
        ros::NodeHandle nodeHandle;

        // ServiceServer
        ros::ServiceServer getAvailableBehaviorsClient;
        ros::ServiceServer loadBehavior;
        ros::ServiceServer unloadBehavior;
        ros::ServiceServer switchBehavior;
        ros::ServiceServer getSystemBehavior;
        ros::ServiceServer getActiveBehavior;
        ros::ServiceServer emergencyLand;
        ros::ServiceServer normalBrake;

        // ServiceServerCallBacks
        bool getAvailableBehaviorsCB(
                        telekyb_srvs::StringArrayOutput::Request& request,
                        telekyb_srvs::StringArrayOutput::Response& response);
        bool loadBehaviorCB(
                        telekyb_srvs::BehaviorInputOutput::Request& request,
                        telekyb_srvs::BehaviorInputOutput::Response& response);
        bool unloadBehaviorCB(
                        telekyb_srvs::BehaviorInput::Request& request,
                        telekyb_srvs::BehaviorInput::Response& response);
        bool switchBehaviorCB(
                        telekyb_srvs::BehaviorInput::Request& request,
                        telekyb_srvs::BehaviorInput::Response& response);
        bool getSystemBehaviorCB(
                        telekyb_srvs::BehaviorInputOutput::Request& request,
                        telekyb_srvs::BehaviorInputOutput::Response& response);
        bool getActiveBehaviorCB(
                        telekyb_srvs::BehaviorOutput::Request& request,
                        telekyb_srvs::BehaviorOutput::Response& response);
        bool emergencyLandCB(
                        std_srvs::Empty::Request& request,
                        std_srvs::Empty::Response& response);
        bool normalBrakeCB(
                        std_srvs::Empty::Request& request,
                        std_srvs::Empty::Response& response);


        // Publish activeBehavior Changes
        ros::Publisher activeBehaviorPub;

        // Trajectory
        ros::Publisher trajectoryPub;

public:
        BehaviorControllerInterface(BehaviorController& behaviorController_);
        virtual ~BehaviorControllerInterface();

        // published the curret active Behavior
        void publishActiveBehavior();

        void publishTKTrajectory(const TKTrajectory& trajectory);

};

}

#endif /* BEHAVIORCONTROLLERINTERFACE_HPP_ */