HLControl.hpp

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 *  Created on: 26.06.2013.
 *  Author: Dula Nad
 *********************************************************************/
#ifndef HLCONTROL_HPP_
#define HLCONTROL_HPP_
#include <auv_msgs/NavSts.h>
#include <auv_msgs/BodyVelocityReq.h>
#include <navcon_msgs/ConfigureAxes.h>
#include <ros/ros.h>

#include <boost/thread/mutex.hpp>

namespace labust
{
        namespace control
        {
                struct NoEnable{static const bool enable=true;};
                struct NoWindup{
                        template <class Base>
                        inline void get_windup(Base b){};
                };

                struct DisableAxis
                {
                        DisableAxis()
                        {
                                for (int i=0; i<6; ++i) disable_axis[i]=1;
                        }
                        bool disable_axis[6];
                };

                class ConfigureAxesPolicy
                {
                public:
                        ConfigureAxesPolicy()
                        {
                                ros::NodeHandle nh;
                                configureAxes = nh.advertiseService("ConfigureAxes",
                                                &ConfigureAxesPolicy::onConfiguration, this);
                        }

                        bool onConfiguration(navcon_msgs::ConfigureAxes::Request& req,
                                        navcon_msgs::ConfigureAxes::Response& resp)
                        {
                                this->disable_axis = req.disable_axis;
                                return true;
                        }

                protected:
                        auv_msgs::Bool6Axis disable_axis;
                        ros::ServiceServer configureAxes;
                };

                template <
                class Controller,
                class Enable = NoEnable,
                class Windup = NoWindup,
                class OutputType = auv_msgs::BodyVelocityReq,
                class InputType = auv_msgs::NavSts,
                class ReferenceType = auv_msgs::NavSts
                >
                class HLControl : public Controller, Enable, Windup
                {
                public:
                        HLControl()
                        {
                                onInit();
                        }
                        void onInit()
                        {
                                ros::NodeHandle nh;
                                //Initialize publishers
                                outPub = nh.advertise<OutputType>("out", 1);

                                //Initialize subscribers
                                stateSub = nh.subscribe<InputType>("state", 1,
                                                &HLControl::onEstimate,this);
                                trackState = nh.subscribe<ReferenceType>("ref", 1,
                                                &HLControl::onRef,this);

                                Controller::init();
                        }

                private:

                        void onRef(const typename ReferenceType::ConstPtr& ref)
                        {
                                boost::mutex::scoped_lock l(cnt_mux);
                                this->ref = *ref;
                        }

                        void onEstimate(const typename InputType::ConstPtr& estimate)
                        {
                                if (!Enable::enable)
                                {
                                        lastEn = false;
                                        return;
                                }

                                //Copy into controller
                                Windup::get_windup(this);
                                boost::mutex::scoped_lock l(cnt_mux);
                                if (Enable::enable && !lastEn)
                                {
                                        this->reset(ref, *estimate);
                                        lastEn = true;
                                }
                                outPub.publish(Controller::step(ref, *estimate));
                        }

                        ros::Publisher outPub;
                        ros::Subscriber stateSub, trackState;
                        ReferenceType ref;
                        bool disabled_axis[6], lastEn;
                        boost::mutex cnt_mux;
                };
        }
}

/* HLCONTROL_HPP_ */
#endif