joint_trajectory_interface.h

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#ifndef MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_TRAJECTORY_INTERFACE_H
#define MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_TRAJECTORY_INTERFACE_H

#include <algorithm>
#include <vector>
#include <string>
#include <map>
#include "ros/ros.h"
#include "industrial_msgs/CmdJointTrajectory.h"
#include "motoman_msgs/CmdJointTrajectoryEx.h"
#include "industrial_msgs/StopMotion.h"
#include "sensor_msgs/JointState.h"
#include "simple_message/simple_message.h"
#include "simple_message/smpl_msg_connection.h"
#include "simple_message/socket/tcp_client.h"
#include "simple_message/messages/joint_traj_pt_message.h"
#include "trajectory_msgs/JointTrajectory.h"
#include "motoman_driver/industrial_robot_client/robot_group.h"

namespace industrial_robot_client
{
namespace joint_trajectory_interface
{

using industrial::smpl_msg_connection::SmplMsgConnection;
using industrial::tcp_client::TcpClient;
using industrial::joint_traj_pt_message::JointTrajPtMessage;
using industrial::simple_message::SimpleMessage;
namespace StandardSocketPorts = industrial::simple_socket::StandardSocketPorts;

class JointTrajectoryInterface
{
public:
  JointTrajectoryInterface() : default_joint_pos_(0.0), default_vel_ratio_(0.1), default_duration_(10.0) {}
  typedef std::map<int, RobotGroup>::iterator it_type;

  virtual bool init(std::string default_ip = "", int default_port = StandardSocketPorts::MOTION,
                    bool version_0 = false);

  virtual bool init(SmplMsgConnection* connection);

  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>());

  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 ~JointTrajectoryInterface();

  virtual void run()
  {
    ros::spin();
  }

protected:
  virtual void trajectoryStop();

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

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

  virtual bool transform(const trajectory_msgs::JointTrajectoryPoint& pt_in,
                         trajectory_msgs::JointTrajectoryPoint* pt_out)
  {
    *pt_out = pt_in;  // by default, no transform is applied
    return true;
  }

  virtual bool transform(const motoman_msgs::DynamicJointsGroup& pt_in, motoman_msgs::DynamicJointsGroup* pt_out)
  {
    *pt_out = pt_in;  // by default, no transform is applied
    return true;
  }

  virtual bool select(const std::vector<std::string>& ros_joint_names, const motoman_msgs::DynamicJointsGroup& ros_pt,
                      const std::vector<std::string>& rbt_joint_names, motoman_msgs::DynamicJointsGroup* rbt_pt);


  virtual bool select(const std::vector<std::string>& ros_joint_names,
                      const trajectory_msgs::JointTrajectoryPoint& ros_pt,
                      const std::vector<std::string>& rbt_joint_names, trajectory_msgs::JointTrajectoryPoint* rbt_pt);

  virtual bool create_message(int seq, const trajectory_msgs::JointTrajectoryPoint &pt, SimpleMessage* msg);

  virtual bool create_message(int seq, const motoman_msgs::DynamicJointsGroup &pt, SimpleMessage* msg);

  virtual bool create_message_ex(int seq, const motoman_msgs::DynamicJointPoint &pt, SimpleMessage* msg);

  virtual bool calc_velocity(const trajectory_msgs::JointTrajectoryPoint& pt, double* rbt_velocity);

  virtual bool calc_velocity(const motoman_msgs::DynamicJointsGroup& pt, double* rbt_velocity);

  virtual bool calc_duration(const trajectory_msgs::JointTrajectoryPoint& pt, double* rbt_duration);

  virtual bool calc_duration(const motoman_msgs::DynamicJointsGroup& pt, double* rbt_duration);

  virtual bool send_to_robot(const std::vector<SimpleMessage>& messages) = 0;

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

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

  virtual bool stopMotionCB(industrial_msgs::StopMotion::Request &req,
                            industrial_msgs::StopMotion::Response &res);

  virtual bool is_valid(const motoman_msgs::DynamicJointTrajectory &traj);

  virtual bool is_valid(const trajectory_msgs::JointTrajectory &traj);

  /*
   * \brief Callback for JointState topic
   *
   * \param msg JointState message
   */
  virtual void jointStateCB(const sensor_msgs::JointStateConstPtr &msg);

  virtual void jointStateCB(const sensor_msgs::JointStateConstPtr &msg, int robot_id);

  TcpClient default_tcp_connection_;

  ros::NodeHandle node_;
  SmplMsgConnection* connection_;
  ros::Subscriber sub_cur_pos_;  // handle for joint-state topic subscription
  ros::Subscriber sub_joint_trajectory_;  // handle for joint-trajectory topic subscription
  ros::ServiceServer srv_joint_trajectory_;  // handle for joint-trajectory service
  ros::Subscriber sub_joint_trajectory_ex_;  // handle for joint-trajectory topic subscription
  ros::ServiceServer srv_joint_trajectory_ex_;  // handle for joint-trajectory service
  ros::ServiceServer srv_stop_motion_;   // handle for stop_motion service

  std::map<int, ros::ServiceServer> srv_stops_;
  std::map<int, ros::ServiceServer> srv_joints_;
  std::map<int, ros::Subscriber> sub_joint_trajectories_;
  std::map<int, ros::Subscriber> sub_cur_positions_;

  std::vector<std::string> all_joint_names_;
  std::map<int, RobotGroup> robot_groups_;
  bool version_0_;
  double default_joint_pos_;  // default position to use for "dummy joints", if none specified
  double default_vel_ratio_;  // default velocity ratio to use for joint commands, if no velocity or max_vel specified
  double default_duration_;   // default duration to use for joint commands, if no
  std::map<std::string, double> joint_vel_limits_;  // cache of max joint velocities from URDF
  sensor_msgs::JointState cur_joint_pos_;  // cache of last received joint state

  std::map<int, sensor_msgs::JointState> cur_joint_pos_map_;

private:
  bool jointTrajectoryCB(industrial_msgs::CmdJointTrajectory::Request &req,
                         industrial_msgs::CmdJointTrajectory::Response &res);


  bool jointTrajectoryExCB(motoman_msgs::CmdJointTrajectoryEx::Request &req,
                           motoman_msgs::CmdJointTrajectoryEx::Response &res);
};

}  // namespace joint_trajectory_interface
}  // namespace industrial_robot_client

#endif  // MOTOMAN_DRIVER_INDUSTRIAL_ROBOT_CLIENT_JOINT_TRAJECTORY_INTERFACE_H