ExecControl.hpp

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#ifndef EXECCONTROL_HPP_
#define EXECCONTROL_HPP_
#include <labust/control/ExecDepGraph.hpp>
#include <labust/control/ExecPNGraph.hpp>
#include <labust/control/PNController.hpp>
#include <navcon_msgs/RegisterController.h>

#include <std_msgs/String.h>
#include <ros/ros.h>

#include <boost/config.hpp>
#include <boost/graph/adjacency_list.hpp>

#include <Eigen/Dense>

#include <string>
#include <vector>
#include <map>
#include <list>

namespace labust
{
        namespace control
        {
                class ExecControl
                {
                        enum {u=0,v,w,p,q,r};
                        enum {X=0,Y,Z,K,M,N};
                        enum {alpha=0,beta,betaa};
                        enum {Kp=0,Ki,Kd,Kt};

                        typedef
                        struct ControllerInfo
                        {
                                navcon_msgs::RegisterControllerRequest info;
                                int graph_idx;
                                int en_idx;
                                int dis_idx;

                                int place_num;
                                int en_t_num;
                                int dis_t_num;
                        } ControllerInfo;

                        typedef std::map<std::string, ControllerInfo> ControllerMap;
                  //typedef boost::property<boost::vertex_name_t, std::string> VertexProperty;
                        struct VertexProperty
                        {
                                VertexProperty():
                                        name("uninitialized"),
                                        type(0),
                                        marked(false){};

                                VertexProperty(const std::string& name, int type):
                                        name(name),
                                        type(type),
                                        marked(false){};

                                enum {p=0, t=1};
                                std::string name;
                                int type;
                                bool marked;
                        };

                        struct RVertexProperty
                        {
                                Eigen::VectorXi marking;
                        };

                        struct REdgeProperty
                        {
                                int t;
                                int weight;
                        };

                  typedef boost::adjacency_list<boost::vecS, boost::vecS,
                                boost::directedS, VertexProperty,
                                boost::property < boost::edge_weight_t, int > > GraphType;

                  typedef boost::adjacency_list<boost::vecS, boost::vecS,
                                boost::directedS, RVertexProperty,
                                REdgeProperty > RGraphType;

                public:
                        ExecControl();
                        void onInit();
//                      /**
//                       * Performs one iteration.
//                       */
//                      void step();
//                      /**
//                       * Start the controller loop.
//                       */
//                      void start();
//
//              private:
//                      /**
//                       * Handle incoming reference message.
//                       */
//                      void handleReference(const auv_msgs::BodyVelocityReq::ConstPtr& ref);
//                      /**
//                       * Handle incoming estimates message.
//                       */
//                      void handleEstimates(const auv_msgs::NavSts::ConstPtr& estimate);
//                      /**
//                       * Handle incoming estimates message.
//                       */
//                      void handleMeasurement(const auv_msgs::NavSts::ConstPtr& meas);
//                      /**
//                       * Handle incoming estimates message.
//                       */
//                      void handleWindup(const auv_msgs::BodyForceReq::ConstPtr& tau);
//                      /**
//                       * Handle incoming estimates message.
//                       */
//                      void handleManual(const sensor_msgs::Joy::ConstPtr& joy);
                        bool onRegisterController(navcon_msgs::RegisterController::Request& req,
                                        navcon_msgs::RegisterController::Response& resp);
                        void onActivateController(const std_msgs::String::ConstPtr& name);
                        void addToGraph(const std::string& name = "");
                        void add_pn_edge(int i, int j, GraphType& graph);
                        void find_path();
                        void reachability();
                        void get_firing(const std::string& name);
                        void get_firing2(const std::string& name);
                        void addToMatrix(const std::string& name);
                        bool firing_rec(int des_place, std::vector<int>& skip_transitions, std::vector<int>& visited_places);
                        bool firing_rec2(int des_place, std::vector<int>& skip_transitions, std::vector<int>& visited_places);
//                      /**
//                       * Handle the enable control request.
//                       */
//                      bool handleEnableControl(labust_uvapp::EnableControl::Request& req,
//                                      labust_uvapp::EnableControl::Response& resp);
//                      /**
//                       * Dynamic reconfigure callback.
//                       */
//                      void dynrec_cb(labust_uvapp::VelConConfig& config, uint32_t level);
//                      /**
//                       * The safety test.
//                       */
//                      void safetyTest();
//                      /**
//                       * Update the dynamic reconfiguration settings.
//                       */
//                      void updateDynRecConfig();
//                      /**
//                       * Perform the identification step.
//                       */
//                      double doIdentification(int i);
//                      /**
//                       * The ROS node handles.
//                       */
//                      ros::NodeHandle nh,ph;
//                      /**
//                       * Last message times.
//                       */
//                      ros::Time lastRef, lastMan, lastEst, lastMeas;
//                      /**
//                       * Timeout
//                       */
//                      double timeout;
//
//                      /**
//                       * Initialize the controller parameters etc.
//                       */
//                      void initialize_controller();
//                      /**
//                       * The velocity controllers.
//                       */
//                      PIDController controller[r+1];
//                      /**
//                       * The identification controllers.
//                       */
//                      boost::shared_ptr<SOIdentification> ident[r+1];
//                      /**
//                       * The mesurement needed for identification.
//                       */
//                      double measurement[r+1];
//                      /**
//                       * Joystick message.
//                       */
//                      float tauManual[N+1];
//                      /**
//                       * Joystick scaling.
//                       */
//                      double joy_scale, Ts;
//                      /**
//                       * Enable/disable controllers, external windup flag.
//                       */
//                      boost::array<int32_t,r+1> axis_control;
//                      /**
//                       * Timeout management.
//                       */
//                      bool suspend_axis[r+1];
//                      /**
//                       * Dynamic reconfigure server.
//                       */
//                      boost::recursive_mutex serverMux;
//
//                      /**
//                       * The publisher of the TAU message.
//                       */
                        ros::Publisher depGraphPub, pnGraphPub;
//                      /**
//                       * The subscribed topics.
//                       */
                        ros::Subscriber activateController;
                        ros::ServiceServer registerController;
//                      /**
//                       * The dynamic reconfigure parameters.
//                       */
//                      labust_uvapp::VelConConfig config;
//                      /**
//                       * The dynamic reconfigure server.
//                       */
//                dynamic_reconfigure::Server<labust_uvapp::VelConConfig> server;
//                /**
//                 * Variable access helper mass.
//                 */
//                const static std::string dofName[r+1];

                        ControllerMap controllers;
                        std::vector<std::string> names;
                        std::string active_dof[6];
                        std::list<std::string> active_cnt;
                        GraphType graph;
                        RGraphType rgraph;
                        int tnum;
                        int pnum;
                        Eigen::MatrixXi Dm,Dp;
                        /*
                         * The current marking.
                         */
                        Eigen::VectorXi marking;
                        std::map<int, std::string> pname;
                        std::vector<int> firing_seq;
                        ExecDepGraph depGraph;
                        ExecPNGraph pnGraph;
                        PNController pnCon;
                };
        }
}

/* EXECCONTROL_HPP_ */
#endif