00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, LABUST, UNIZG-FER 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the LABUST nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 * 00034 * Author: Dula Nad 00035 * Created: 11.07.2013. 00036 *********************************************************************/ 00037 #ifndef HLEXECCONTROL_HPP_ 00038 #define HLEXECCONTROL_HPP_ 00039 #include <labust_uvapp/RegisterController.h> 00040 #include <auv_msgs/BodyVelocityReq.h> 00041 #include <std_msgs/String.h> 00042 #include <ros/ros.h> 00043 00044 #include <string> 00045 #include <map> 00046 00047 namespace labust 00048 { 00049 namespace control 00050 { 00051 class HLExecControl 00052 { 00053 public: 00054 HLExecControl(); 00055 00056 void onInit(); 00057 00058 private: 00062 bool onRegReq(labust_uvapp::RegisterController::Request& req, 00063 labust_uvapp::RegisterController::Response& resp); 00067 void onNuIn(const auv_msgs::BodyVelocityReq::ConstPtr& nu); 00071 void onControllerSelect(const std_msgs::String::ConstPtr& name); 00072 00076 ros::ServiceServer registerServer; 00080 ros::Subscriber nuIn, cntSel; 00084 ros::Publisher nuRef; 00088 std::map<std::string, labust_uvapp::ControllerInfo> controllers; 00092 std::map<std::string, auv_msgs::BodyVelocityReq> desired; 00096 boost::array<std::string,6> active_dofs; 00097 }; 00098 } 00099 }; 00100 00101 /* HLEXECCONTROL_HPP_ */ 00102 #endif 00103 00104 00105