joint_relay_handler.h

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#ifndef MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_RELAY_HANDLER_H
#define MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_RELAY_HANDLER_H

#include <string>
#include <vector>
#include <map>
#include <algorithm>
#include "ros/ros.h"
#include "control_msgs/FollowJointTrajectoryFeedback.h"
#include "sensor_msgs/JointState.h"
#include "simple_message/message_handler.h"
#include "simple_message/messages/joint_message.h"
#include "trajectory_msgs/JointTrajectoryPoint.h"
#include "motoman_driver/industrial_robot_client/robot_group.h"
#include "motoman_msgs/DynamicJointsGroup.h"

namespace industrial_robot_client
{
namespace joint_relay_handler
{

using industrial::joint_message::JointMessage;
using industrial::simple_message::SimpleMessage;
using trajectory_msgs::JointTrajectoryPoint;
using motoman_msgs::DynamicJointsGroup;
class JointRelayHandler : public industrial::message_handler::MessageHandler
{
public:
  JointRelayHandler() {}

  typedef std::map<int, RobotGroup>::iterator it_type;
  virtual bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection,
                    std::map<int, RobotGroup>& robot_groups)
  {
    return init(connection, static_cast<int>(industrial::simple_message::StandardMsgTypes::JOINT), robot_groups);
  }

  virtual bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection,
                    std::vector<std::string>& joint_names)
  {
    return init(connection, static_cast<int>(industrial::simple_message::StandardMsgTypes::JOINT), joint_names);
  }

protected:
  std::vector<std::string> all_joint_names_;
  std::map<int, RobotGroup> robot_groups_;

  ros::Publisher pub_joint_control_state_;
  ros::Publisher pub_joint_sensor_state_;
  ros::NodeHandle node_;

  std::map<int, ros::Publisher> pub_controls_;
  std::map<int, ros::Publisher> pub_states_;

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

  virtual bool init(industrial::smpl_msg_connection::SmplMsgConnection* connection,
                    int msg_type, std::map<int, RobotGroup> &robot_groups);
  virtual bool create_messages(SimpleMessage& msg_in,
                               control_msgs::FollowJointTrajectoryFeedback* control_state,
                               sensor_msgs::JointState* sensor_state);

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

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

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

  virtual bool transform(const JointTrajectoryPoint& state_in, JointTrajectoryPoint* state_out)
  {
    *state_out = state_in;  // by default, no transform is applied
    return true;
  }

  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 JointTrajectoryPoint& all_joint_state, const std::vector<std::string>& all_joint_names,
                      JointTrajectoryPoint* pub_joint_state, std::vector<std::string>* pub_joint_names);

  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);

  bool internalCB(SimpleMessage& in);

private:
  bool convert_message(JointMessage& msg_in, JointTrajectoryPoint* joint_state);

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

}  // namespace joint_relay_handler
}  // namespace industrial_robot_client


#endif  // MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_RELAY_HANDLER_H