PrimitiveCallBase.hpp

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/*********************************************************************
 * PrimitiveCallBase.hpp
 *
 *  Created on: May 27, 2015
 *      Author: Filip Mandic
 *
 ********************************************************************/

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#ifndef PRIMITIVECALLBASE_HPP_
#define PRIMITIVECALLBASE_HPP_

#include <ros/ros.h>
#include <actionlib/client/simple_action_client.h>

#include <std_msgs/String.h>

namespace labust
{
        namespace primitive
        {
                template <class ActionType, class ActionGoal, class ActionResult, class ActionFeedback>
                class PrimitiveCallBase
                {
                public:

                        typedef ActionType Action;
                        typedef actionlib::SimpleActionClient<Action> ActionClient;
                        typedef ActionGoal Goal;
                        typedef ActionResult Result;
                        typedef ActionFeedback Feedback;

                protected:

                        PrimitiveCallBase(const std::string& name):primitiveName(name),
                                                                                                                  ac(primitiveName.c_str())
                        {
                                ros::NodeHandle nh;

                                /*** Publishers */
                                pubEventString = nh.advertise<std_msgs::String>("eventString",1);

                                //TODO Throw exception
                                ROS_INFO("Waiting for action server to start.");
                                ac.waitForServer(); //will wait for infinite time
                                ROS_INFO("Action server started, sending goal.");
                        }

                        virtual ~PrimitiveCallBase(){}

                public:
                        virtual void start(Goal goal)
                        {
                                //LLcfg.LL_VELconfigure(true,2,2,0,0,0,2);
                                this->callPrimitiveAction(goal);
                        }

                        virtual void stop()
                        {
                                //boost::this_thread::sleep(boost::posix_time::milliseconds(200));
                                ros::Duration(0.2).sleep();
                                ac.cancelGoalsAtAndBeforeTime(ros::Time::now());

                                //enableController("UALF_enable",false);
                                //enableController("HDG_enable",false);
                                //LLcfg.LL_VELconfigure(false,1,1,0,0,0,1);
                        }

                protected:
                        void callPrimitiveAction(Goal goal)
                        {
                                ac.sendGoal(goal,
                                                        boost::bind(&PrimitiveCallBase::doneCb, this, _1, _2),
                                                        boost::bind(&PrimitiveCallBase::activeCb, this),
                                                        boost::bind(&PrimitiveCallBase::feedbackCb, this, _1));
                        }


                        // Called once when the goal completes
                        virtual void doneCb(const actionlib::SimpleClientGoalState& state, const typename Result::ConstPtr& result)
                        {
                                if (state == actionlib::SimpleClientGoalState::SUCCEEDED)
                                {
                                        ROS_ERROR("Finished in state [%s]", state.toString().c_str());
                                        publishEventString("/PRIMITIVE_FINISHED");
                                }
                        }

                        // Called once when the goal becomes active
                        virtual void activeCb()
                        {
                                ROS_ERROR("Goal just went active.");
                        }

                        // Called every time feedback is received for the goal
                        virtual void feedbackCb(const typename Feedback::ConstPtr& feedback)
                        {

                        }

                        void publishEventString(std::string event)
                        {
                                std_msgs::String msg;
                                msg.data = event.c_str();
                                pubEventString.publish(msg);
                        }

                        std::string primitiveName;
                        ActionClient ac;
                        Action action;
                        ros::ServiceClient control_manager;
                        ros::Publisher pubEventString;
                };
        }
}



#endif /* PRIMITIVECALLBASE_HPP_ */