pr2_gripper_sensor_controller.h

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 *  \author Joe Romano
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//@author  Joe Romano
//@email   joeromano@gmail.com
//@brief   pr2_gripper_sensor_controller.cpp  - controller to read data from
//         the sensors on the pr2 gripper (accelerometer in palm,
//         pressure arrays on the fingers, and encoder in the hand) 
//         and publish higher-level useful processed information about
//         them, as well as perform low-level control tasks to control
//         the gripper based on these signals in real-time.
//         
//         This controller is inteded to be interacted with through its
//         action interface, pr2_gripper_sensor_action.

#include <pr2_controller_interface/controller.h>
#include <pr2_gripper_sensor_controller/gripper_controller.h>
#include <pr2_gripper_sensor_controller/pressure_observer.h>
#include <pr2_gripper_sensor_controller/acceleration_observer.h>
#include <pr2_hardware_interface/hardware_interface.h>
#include <pr2_gripper_sensor_msgs/PR2GripperFindContactData.h>
#include <pr2_gripper_sensor_msgs/PR2GripperFindContactCommand.h>
#include <pr2_gripper_sensor_msgs/PR2GripperForceServoData.h>
#include <pr2_gripper_sensor_msgs/PR2GripperForceServoCommand.h>
#include <pr2_gripper_sensor_msgs/PR2GripperSlipServoData.h>
#include <pr2_gripper_sensor_msgs/PR2GripperSlipServoCommand.h>
#include <pr2_gripper_sensor_msgs/PR2GripperEventDetectorData.h>
#include <pr2_gripper_sensor_msgs/PR2GripperEventDetectorCommand.h>
#include <pr2_gripper_sensor_msgs/PR2GripperSensorRTState.h>
#include <pr2_gripper_sensor_msgs/PR2GripperSensorRawData.h>
#include <std_srvs/Empty.h>
#include <std_msgs/Empty.h>

#include <ros/ros.h>

#include <pr2_controllers_msgs/JointControllerState.h>
#include <pr2_controllers_msgs/Pr2GripperCommand.h>
#include <boost/scoped_ptr.hpp>
#include <boost/thread/condition.hpp>
#include <realtime_tools/realtime_box.h>
#include <realtime_tools/realtime_publisher.h>
#include <std_msgs/Float64.h>


namespace pr2_gripper_sensor_controller{

class PR2GripperSensorController: public pr2_controller_interface::Controller
{
private:
  ros::NodeHandle nodeHandle;                   
  pr2_mechanism_model::RobotState *robotHandle; 


  // functions ---------------
  bool initializeHandles(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
  bool forceServo();
  bool updateZeros(std_srvs::Empty::Request& req,std_srvs::Empty::Response& resp);
  bool stopMotorOutput(std_srvs::Empty::Request& req,std_srvs::Empty::Response& resp);
  void reinitializeValues();
  bool reloadParams(std_srvs::Empty::Request& req,std_srvs::Empty::Response& resp);
  
  // variables ---------------
  int loop_count_;         
  int contactCounter;      
  bool stable_contact;     
  bool placedState;        
  bool update_zeros;       
  int placeConditions;     
  double acc_trigger;      
  double slip_trigger;     
  bool stable_force;       
  int findContact_delay;   
  int publish_skip;            

  // state variables about our controller
  int control_mode;        
  bool contact_success;    
  double servo_force;      
  double servo_position;   
  double max_effort;       
  double servo_velocity;   
  int contacts_desired;   
  double deformation_limit;
  double fingertip_start_force; 
  double fingertip_force_limit; 
  double force_servo_velocity_tolerance; 
  const pr2_gripper_sensor_msgs::PR2GripperSensorRTState rt_state_def; 
  pr2_gripper_sensor_msgs::PR2GripperSensorRawData raw_data;
  bool publish_raw_data;   

  ros::Time last_time_;    

  accelerationObserver *myAccelerationObserver;   
  gripperController *myGripperController;         
  pressureObserver *myPressureObserver;           

  
  ros::ServiceServer updateZeros_srv_;
  ros::ServiceServer reloadParams_srv_;
  ros::ServiceServer stopMotorOutput_srv_;

  std_srvs::Empty::Request empty_req;
  std_srvs::Empty::Response empty_resp;


  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
    pr2_gripper_sensor_msgs::PR2GripperSensorRawData> > raw_data_publisher_ ;

  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
    pr2_controllers_msgs::JointControllerState> > controller_state_publisher_ ;
  ros::Subscriber sub_command_;
  void positionCB(const pr2_controllers_msgs::Pr2GripperCommandConstPtr& msg);

  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
    pr2_gripper_sensor_msgs::PR2GripperFindContactData> > contact_state_publisher_ ;
  ros::Subscriber sub_findcontact_command_;
  void findContactCB(const pr2_gripper_sensor_msgs::PR2GripperFindContactCommandConstPtr& msg);

  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
    pr2_gripper_sensor_msgs::PR2GripperSlipServoData> > slip_state_publisher_ ;
  ros::Subscriber sub_slipservo_command_;
  void slipServoCB(const pr2_gripper_sensor_msgs::PR2GripperSlipServoCommandConstPtr& msg);

  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
    pr2_gripper_sensor_msgs::PR2GripperForceServoData> > force_state_publisher_ ;
  ros::Subscriber sub_forceservo_command_;
  void forceServoCB(const pr2_gripper_sensor_msgs::PR2GripperForceServoCommandConstPtr& msg);

  boost::scoped_ptr<
    realtime_tools::RealtimePublisher<
    pr2_gripper_sensor_msgs::PR2GripperEventDetectorData> > event_detector_state_publisher_ ;
  ros::Subscriber sub_event_detector_command_;
  void eventDetectorCB(const pr2_gripper_sensor_msgs::PR2GripperEventDetectorCommandConstPtr& msg);
  
public:
  virtual bool init(pr2_mechanism_model::RobotState *robot, ros::NodeHandle &n);
  virtual void update();
  virtual void stopping();
  virtual void starting() {}

};
}