joint_relay_handler.cpp

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#include <algorithm>
 
#include "industrial_robot_client/joint_relay_handler.h"
#include "simple_message/log_wrapper.h"
 
using industrial::shared_types::shared_real;
using industrial::smpl_msg_connection::SmplMsgConnection;
using namespace industrial::simple_message;
 
namespace industrial_robot_client
{
namespace joint_relay_handler
{
 
bool JointRelayHandler::init(SmplMsgConnection* connection, std::vector<std::string>& joint_names)
{
  this->pub_joint_control_state_ =
          this->node_.advertise<control_msgs::FollowJointTrajectoryFeedback>("feedback_states", 1);
 
  this->pub_joint_sensor_state_ = this->node_.advertise<sensor_msgs::JointState>("joint_states",1);
 
  // save "complete" joint-name list, preserving any blank entries for later use
  this->all_joint_names_ = joint_names;
 
  return init((int)StandardMsgTypes::JOINT, connection);
}
 
bool JointRelayHandler::internalCB(SimpleMessage& in)
{
  JointMessage joint_msg;
 
  if (!joint_msg.init(in))
  {
    LOG_ERROR("Failed to initialize joint message");
    return false;
  }
 
  return internalCB(joint_msg);
}
 
bool JointRelayHandler::internalCB(JointMessage& in)
{
  control_msgs::FollowJointTrajectoryFeedback control_state;
  sensor_msgs::JointState sensor_state;
  bool rtn = true;
 
  if (create_messages(in, &control_state, &sensor_state))
  {
    this->pub_joint_control_state_.publish(control_state);
    this->pub_joint_sensor_state_.publish(sensor_state);
  }
  else
    rtn = false;
 
  // Reply back to the controller if the sender requested it.
  if (CommTypes::SERVICE_REQUEST == in.getMessageType())
  {
    SimpleMessage reply;
    in.toReply(reply, rtn ? ReplyTypes::SUCCESS : ReplyTypes::FAILURE);
    this->getConnection()->sendMsg(reply);
  }
 
  return rtn;
}
 
// TODO: Add support for other message fields (velocity, effort, desired pos)
bool JointRelayHandler::create_messages(JointMessage& msg_in,
                                        control_msgs::FollowJointTrajectoryFeedback* control_state,
                                        sensor_msgs::JointState* sensor_state)
{
  // read joint positions from JointMessage
  std::vector<double> all_joint_pos(all_joint_names_.size());
  for (int i=0; i<all_joint_names_.size(); ++i)
  {
    shared_real value;
    if (msg_in.getJoints().getJoint(i, value))
      all_joint_pos[i] = value;
    else
      LOG_ERROR("Failed to parse #%d value from JointMessage", i);
  }
 
  // apply transform to joint positions, if required
  std::vector<double> xform_joint_pos;
  if (!transform(all_joint_pos, &xform_joint_pos))
  {
    LOG_ERROR("Failed to transform joint positions");
    return false;
  }
 
  // select specific joints for publishing
  std::vector<double> pub_joint_pos;
  std::vector<std::string> pub_joint_names;
  if (!select(xform_joint_pos, all_joint_names_, &pub_joint_pos, &pub_joint_names))
  {
    LOG_ERROR("Failed to select joints for publishing");
    return false;
  }
 
  // assign values to messages
  control_msgs::FollowJointTrajectoryFeedback tmp_control_state;  // always start with a "clean" message
  tmp_control_state.header.stamp = ros::Time::now();
  tmp_control_state.joint_names = pub_joint_names;
  tmp_control_state.actual.positions = pub_joint_pos;
  *control_state = tmp_control_state;
 
  sensor_msgs::JointState tmp_sensor_state;
  tmp_sensor_state.header.stamp = ros::Time::now();
  tmp_sensor_state.name = pub_joint_names;
  tmp_sensor_state.position = pub_joint_pos;
  *sensor_state = tmp_sensor_state;
 
  return true;
}
 
bool JointRelayHandler::select(const std::vector<double>& all_joint_pos, const std::vector<std::string>& all_joint_names,
            std::vector<double>* pub_joint_pos, std::vector<std::string>* pub_joint_names)
{
  ROS_ASSERT(all_joint_pos.size() == all_joint_names.size());
 
  pub_joint_pos->clear();
  pub_joint_names->clear();
 
  // skip over "blank" joint names
  for (int i=0; i<all_joint_pos.size(); ++i)
  {
    if (all_joint_names[i].empty())
      continue;
 
    pub_joint_pos->push_back(all_joint_pos[i]);
    pub_joint_names->push_back(all_joint_names[i]);
  }
 
  return true;
}
 
}//namespace joint_relay_handler
}//namespace industrial_robot_client