Program Listing for File point_gimbal_behavior.hpp

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// Copyright 2024 Universidad Politécnica de Madrid
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/*!*******************************************************************************************
 *  \file       point_gimbal_behavior.hpp
 *  \brief      Point Gimbal behavior header file.
 *  \authors    Pedro Arias-Perez, Rafael Perez-Segui
 *  \copyright  Copyright (c) 2024 Universidad Politécnica de Madrid
 *              All Rights Reserved
 ********************************************************************************/

#ifndef POINT_GIMBAL_BEHAVIOR__POINT_GIMBAL_BEHAVIOR_HPP_
#define POINT_GIMBAL_BEHAVIOR__POINT_GIMBAL_BEHAVIOR_HPP_

#include <string>
#include <memory>
#include <rclcpp/rclcpp.hpp>
#include "as2_behavior/behavior_server.hpp"
#include "as2_core/node.hpp"
#include "as2_core/utils/tf_utils.hpp"
#include "as2_core/utils/frame_utils.hpp"

#include <rclcpp_action/rclcpp_action.hpp>
#include "as2_msgs/action/point_gimbal.hpp"
#include "as2_msgs/msg/gimbal_control.hpp"
#include "geometry_msgs/msg/quaternion_stamped.hpp"
#include "geometry_msgs/msg/vector3.hpp"
#include "geometry_msgs/msg/vector3_stamped.hpp"

namespace point_gimbal_behavior
{

struct gimbal_status
{
  geometry_msgs::msg::Vector3 orientation;
};

class PointGimbalBehavior : public as2_behavior::BehaviorServer<as2_msgs::action::PointGimbal>
{
public:
  explicit PointGimbalBehavior(const rclcpp::NodeOptions & options = rclcpp::NodeOptions());
  virtual ~PointGimbalBehavior() = default;

protected:
  bool on_activate(std::shared_ptr<const as2_msgs::action::PointGimbal::Goal> goal) override;

  bool on_modify(std::shared_ptr<const as2_msgs::action::PointGimbal::Goal> goal) override;

  bool on_deactivate(const std::shared_ptr<std::string> & message) override;

  bool on_pause(const std::shared_ptr<std::string> & message) override;

  bool on_resume(const std::shared_ptr<std::string> & message) override;

  as2_behavior::ExecutionStatus on_run(
    const std::shared_ptr<const as2_msgs::action::PointGimbal::Goal> & goal,
    std::shared_ptr<as2_msgs::action::PointGimbal::Feedback> & feedback_msg,
    std::shared_ptr<as2_msgs::action::PointGimbal::Result> & result_msg) override;

  void on_execution_end(const as2_behavior::ExecutionStatus & state) override;

private:
  as2::tf::TfHandler tf_handler_;

  // Init parameters
  std::chrono::nanoseconds tf_timeout_threshold_;
  std::string base_link_frame_id_;
  std::string gimbal_name_;
  std::string gimbal_base_frame_id_;
  std::string gimbal_frame_id_;
  double gimbal_threshold_;
  rclcpp::Time goal_init_time_;
  rclcpp::Duration behavior_timeout_ = rclcpp::Duration(0, 0);

  // Gimbal limits
  double gimbal_roll_min_;
  double gimbal_roll_max_;
  double gimbal_pitch_min_;
  double gimbal_pitch_max_;
  double gimbal_yaw_min_;
  double gimbal_yaw_max_;

  // Goal
  geometry_msgs::msg::PointStamped desired_goal_position_;  // In gimbal_base_frame_id frame

  // Status
  geometry_msgs::msg::PointStamped current_goal_position_;    // In gimbal_frame_id
  geometry_msgs::msg::Vector3Stamped gimbal_angles_current_;  // For feedback

  // Publisher
  as2_msgs::msg::GimbalControl gimbal_control_msg_;  // Send angles in gimbal_base_frame_id frame
  rclcpp::Publisher<as2_msgs::msg::GimbalControl>::SharedPtr gimbal_control_pub_;

protected:
  bool check_gimbal_limits(const double roll, const double pitch, const double yaw);

  bool update_gimbal_state();

  bool check_finished();
};
}  // namespace point_gimbal_behavior

#endif  // POINT_GIMBAL_BEHAVIOR__POINT_GIMBAL_BEHAVIOR_HPP_