controller_to_csv.h

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/* Author: Dave Coleman
   Desc:   Records a ros_control ControllerState data to CSV for Matlab/etc analysis
*/

#ifndef GENERIC_ROS_CONTROL__CONTROLLER_TO_CSV_H
#define GENERIC_ROS_CONTROL__CONTROLLER_TO_CSV_H

// ROS
#include <ros/ros.h>

// ros_control
#include <control_msgs/JointTrajectoryControllerState.h>

namespace ros_control_boilerplate
{
class ControllerToCSV
{
public:
  ControllerToCSV(const std::string& topic);

  ~ControllerToCSV();

  bool recordAll();

  void startRecording(const std::string& file_name);

  void stopRecording();

private:
  bool writeToFile();

  void stateCB(const control_msgs::JointTrajectoryControllerState::ConstPtr& state);

  void update(const ros::TimerEvent& e);

  bool waitForSubscriber(const ros::Subscriber& sub, const double& wait_time = 10.0);

  // Class name
  std::string name_ = "controller_to_csv";

  // A shared node handle
  ros::NodeHandle nh_;

  // Show status info on first update
  bool first_update_;
  bool recording_started_;

  // Listener to state of controller
  ros::Subscriber state_sub_;
  double record_hz_;  // how often to record the latest incoming data. if zero, record all

  // Where to save the CSV
  std::string file_name_;

  // Buffer of controller state data
  std::vector<control_msgs::JointTrajectoryControllerState> states_;
  std::vector<ros::Time> timestamps_;

  // Cache of last recieved state
  control_msgs::JointTrajectoryControllerState current_state_;

  // How often to sample the state
  ros::Timer non_realtime_loop_;

};  // end class

// Create boost pointers for this class
typedef boost::shared_ptr<ControllerToCSV> ControllerToCSVPtr;
typedef boost::shared_ptr<const ControllerToCSV> ControllerToCSVConstPtr;

}  // namespace ros_control_boilerplate

#endif