joint_trajectory_streamer.h

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#ifndef MOTOMAN_DRIVER_JOINT_TRAJECTORY_STREAMER_H
#define MOTOMAN_DRIVER_JOINT_TRAJECTORY_STREAMER_H

#include <map>
#include <string>
#include <vector>
#include "motoman_driver/motion_ctrl.h"
#include "motoman_driver/industrial_robot_client/joint_trajectory_streamer.h"
#include "simple_message/joint_data.h"
#include "simple_message/simple_message.h"
#include "std_srvs/Trigger.h"

namespace motoman
{
namespace joint_trajectory_streamer
{

using motoman::motion_ctrl::MotomanMotionCtrl;
using industrial_robot_client::joint_trajectory_streamer::JointTrajectoryStreamer;
using industrial::simple_message::SimpleMessage;
using industrial::smpl_msg_connection::SmplMsgConnection;

//* JointTrajectoryStreamer
class MotomanJointTrajectoryStreamer : public JointTrajectoryStreamer
{
public:
  // since this class overrides some base-class methods,
  // these statements help find the base-class versions
  using JointTrajectoryStreamer::init;
  using JointTrajectoryInterface::is_valid;

  explicit MotomanJointTrajectoryStreamer(int robot_id = -1) : JointTrajectoryStreamer(1),
    robot_id_(robot_id) {}

  ~MotomanJointTrajectoryStreamer();

  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 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 &point, SimpleMessage* msg);

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

  virtual void streamingThread();

protected:
  int robot_id_;
  MotomanMotionCtrl motion_ctrl_;

  std::map<int, MotomanMotionCtrl> motion_ctrl_map_;

  void trajectoryStop();
  bool is_valid(const trajectory_msgs::JointTrajectory &traj);
  bool is_valid(const motoman_msgs::DynamicJointTrajectory &traj);

  static bool VectorToJointData(const std::vector<double> &vec,
                                industrial::joint_data::JointData &joints);

  ros::ServiceServer disabler_;

  ros::ServiceServer enabler_;

  bool disableRobotCB(std_srvs::Trigger::Request &req,
                      std_srvs::Trigger::Response &res);

  bool enableRobotCB(std_srvs::Trigger::Request &req,
                     std_srvs::Trigger::Response &res);
};

}  // namespace joint_trajectory_streamer
}  // namespace motoman

#endif  // MOTOMAN_DRIVER_JOINT_TRAJECTORY_STREAMER_H