joint_feedback_relay_handler.h

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#ifndef MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_FEEDBACK_RELAY_HANDLER_H
#define MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_FEEDBACK_RELAY_HANDLER_H

#include <algorithm>
#include <map>
#include <string>
#include <vector>
#include "motoman_driver/industrial_robot_client/joint_relay_handler.h"
#include "simple_message/messages/joint_feedback_message.h"
#include "motoman_msgs/DynamicJointsGroup.h"

namespace industrial_robot_client
{
namespace joint_feedback_relay_handler
{

using industrial::joint_feedback_message::JointFeedbackMessage;
using industrial::simple_message::SimpleMessage;
using industrial::smpl_msg_connection::SmplMsgConnection;
using industrial_robot_client::joint_relay_handler::JointRelayHandler;
using trajectory_msgs::JointTrajectoryPoint;
using motoman_msgs::DynamicJointsGroup;

class JointFeedbackRelayHandler : public industrial_robot_client::joint_relay_handler::JointRelayHandler
{
public:
  explicit JointFeedbackRelayHandler(int robot_id = -1) : robot_id_(robot_id) {}


  virtual bool init(SmplMsgConnection* connection,
                    std::vector<std::string> &joint_names);

  virtual bool init(SmplMsgConnection* connection,
                    std::map<int, RobotGroup> &robot_groups);

protected:
  int robot_id_;
  bool version_0_;


  virtual bool convert_message(SimpleMessage& msg_in, JointTrajectoryPoint* joint_state);

  virtual bool convert_message(SimpleMessage& msg_in, DynamicJointsGroup* joint_state, int robot_id);

  // override JointRelayHandler::create_messages, to check robot_id w/o error msg
  bool create_messages(SimpleMessage& msg_in,
                       control_msgs::FollowJointTrajectoryFeedback* control_state,
                       sensor_msgs::JointState* sensor_state);

  bool create_messages(SimpleMessage& msg_in,
                       control_msgs::FollowJointTrajectoryFeedback* control_state,
                       sensor_msgs::JointState* sensor_state, int robot_id);

  // Overriding some functions to get it to work now inside of the Motoman package
  virtual bool transform(const DynamicJointsGroup& state_in, DynamicJointsGroup* state_out)
  {
    *state_out = state_in;  // by default, no transform is applied
    return true;
  }

  virtual bool select(const DynamicJointsGroup& all_joint_state, const std::vector<std::string>& all_joint_names,
                      DynamicJointsGroup* pub_joint_state, std::vector<std::string>* pub_joint_names);

private:
  static bool JointDataToVector(const industrial::joint_data::JointData &joints,
                                std::vector<double> &vec, int len);

  bool convert_message(JointFeedbackMessage& msg_in, JointTrajectoryPoint* joint_state);

  bool convert_message(JointFeedbackMessage& msg_in, DynamicJointsGroup* joint_state, int robot_id);
};  // class JointFeedbackRelayHandler

}  // namespace joint_feedback_relay_handler
}  // namespace industrial_robot_client


#endif  // MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_FEEDBACK_RELAY_HANDLER_H