industrial_robot_client/joint_trajectory_streamer.h

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#ifndef MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_TRAJECTORY_STREAMER_H
#define MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_TRAJECTORY_STREAMER_H

#include <boost/thread/thread.hpp>
#include "motoman_driver/industrial_robot_client/joint_trajectory_interface.h"
#include <map>
#include <vector>
#include <string>

namespace industrial_robot_client
{
namespace joint_trajectory_streamer
{

using industrial_robot_client::joint_trajectory_interface::JointTrajectoryInterface;
using industrial::simple_message::SimpleMessage;
using industrial::smpl_msg_connection::SmplMsgConnection;

namespace TransferStates
{
enum TransferState
{
  IDLE = 0, STREAMING = 1  // ,STARTING, //, STOPPING
};
}
typedef TransferStates::TransferState TransferState;

// * JointTrajectoryStreamer
class JointTrajectoryStreamer : public JointTrajectoryInterface
{
public:
  // since this class defines a different init(), this helps find the base-class init()
  using JointTrajectoryInterface::init;

  explicit JointTrajectoryStreamer(int min_buffer_size = 1) : min_buffer_size_(min_buffer_size) {}

  virtual bool init(SmplMsgConnection* connection, const std::map<int, RobotGroup> &robot_groups,
                    const std::map<std::string, double> &velocity_limits = std::map<std::string, double>());


  virtual bool init(SmplMsgConnection* connection, const std::vector<std::string> &joint_names,
                    const std::map<std::string, double> &velocity_limits = std::map<std::string, double>());

  ~JointTrajectoryStreamer();

  virtual void jointTrajectoryCB(const trajectory_msgs::JointTrajectoryConstPtr &msg);

  virtual void jointTrajectoryCB(const motoman_msgs::DynamicJointTrajectoryConstPtr &msg);

  virtual bool trajectory_to_msgs(const trajectory_msgs::JointTrajectoryConstPtr& traj,
                                  std::vector<SimpleMessage>* msgs);

  virtual bool trajectory_to_msgs(const motoman_msgs::DynamicJointTrajectoryConstPtr& traj,
                                  std::vector<SimpleMessage>* msgs);

  virtual void streamingThread();

  bool send_to_robot(const std::vector<SimpleMessage>& messages);

protected:
  void trajectoryStop();

  boost::thread* streaming_thread_;
  boost::mutex mutex_;
  int current_point_;
  std::vector<SimpleMessage> current_traj_;
  TransferState state_;
  ros::Time streaming_start_;
  int min_buffer_size_;
};

}  // namespace joint_trajectory_streamer
}  // namespace industrial_robot_client

#endif  // MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_TRAJECTORY_STREAMER_H