StateInterface.cpp

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#include <rsm_core/StateInterface.h>

namespace rsm {

StateInterface::StateInterface() :
                _plugin_loader("rsm_core", "rsm::BaseState") {
        ros::NodeHandle private_nh("~");
        private_nh.param<std::string>("calculate_goal_plugin",
                        _calculate_goal_plugin, "rsm::CalculateGoalState");
        private_nh.param<std::string>("navigation_plugin", _navigation_plugin,
                        "rsm::NavigationState");
        private_nh.param<std::string>("mapping_plugin", _mapping_plugin,
                        "rsm::MappingDummyState");

        ros::NodeHandle nh("rsm");
        _operation_mode_sub = nh.subscribe<rsm_msgs::OperationMode>("operationMode",
                        1, &StateInterface::operationModeCallback, this);
        _simple_goal_sub = nh.subscribe<geometry_msgs::PoseStamped>("simpleGoal", 1,
                        &StateInterface::simpleGoalCallback, this);
        _start_stop_exploration_service = nh.advertiseService(
                        "startStopExploration",
                        &StateInterface::startStopExplorationService, this);
        _start_stop_waypoint_following_service = nh.advertiseService(
                        "startStopWaypointFollowing",
                        &StateInterface::startStopWaypointFollowingService, this);
        _stop_2d_nav_goal_service = nh.advertiseService("stop2DNavGoal",
                        &StateInterface::stop2dNavGoal, this);
        _state_info_publisher = nh.advertise<std_msgs::String>("stateInfo", 10);
        _state_info_service = nh.advertiseService("stateInfo",
                        &StateInterface::stateInfoService, this);
        _set_navigation_goal_client = nh.serviceClient<rsm_msgs::SetNavigationGoal>(
                        "setNavigationGoal");

        _current_state = NULL;
        _next_state = NULL;
        _on_interrupt = false;
}

StateInterface::~StateInterface() {
        if (_current_state) {
                _current_state->onExit();
        }
}

boost::shared_ptr<rsm::BaseState> StateInterface::getPluginState(
                int plugin_type, std::string routine) {
        try {
                switch (plugin_type) {
                case 1: {
                        return _plugin_loader.createInstance(_calculate_goal_plugin);
                        break;
                }
                case 2: {
                        return _plugin_loader.createInstance(_navigation_plugin);
                        break;
                }
                case 3: {
                        return _plugin_loader.createInstance(_mapping_plugin);
                        break;
                }
                case 4: {
                        std::ostringstream s;
                        s << "rsm::" << routine << "RoutineState";
                        return _plugin_loader.createInstance(s.str());
                        break;
                }
                default: {
                        if (!routine.empty()) {
                                std::ostringstream s;
                                s << "rsm::" << routine;
                                return _plugin_loader.createInstance(s.str());
                        } else {
                                ROS_ERROR(
                                                "No matching plugin type found, return to Idle State");
                                return boost::make_shared<IdleState>();
                        }
                        break;
                }
                }
        } catch (const std::exception &e) {
                ROS_ERROR("Plugin state could not be created, return to Idle State");
                return boost::make_shared<IdleState>();
        }
}

void StateInterface::awake() {
        // check 1st time awake
        if (!_current_state && _next_state) {
                _current_state = _next_state;
                _current_state->onEntry();
                _next_state = NULL;
        }
        if (_current_state) {
                _current_state->onActive();

                if (_next_state) // do transition
                {
                        // do de-initialization of current state
                        _current_state->onExit();
                }
        }

        if (_next_state) // do transition
        {
                // do transition to next state
                _current_state = _next_state;
                _next_state.reset();
                _current_state->onEntry();
                std_msgs::String state_info;
                state_info.data = _current_state->getName();
                _state_info_publisher.publish(state_info);
        }
}

void StateInterface::transitionToVolatileState(
                boost::shared_ptr<rsm::BaseState> nextState) {
        if (_current_state != nextState) {
                if (nextState != NULL && nextState->getStateInterface() == NULL) {
                        _next_state = nextState;
                        _next_state->setStateInterface(this);
                        _next_state->onSetup();
                } else {
                        ROS_ERROR(
                                        "Next state instance invalid. Either NULL or already assigned state passed.");
                }
        }
}

void StateInterface::operationModeCallback(
                const rsm_msgs::OperationMode::ConstPtr &operation_mode) {
        if (operation_mode->emergencyStop) {
                _on_interrupt = true;
                if (_current_state) {
                        _current_state->onInterrupt(EMERGENCY_STOP_INTERRUPT);
                }
        } else if (operation_mode->mode == 2) {
                _on_interrupt = true;
                if (_current_state) {
                        _current_state->onInterrupt(TELEOPERATION_INTERRUPT);
                }
        } else {
                if (_on_interrupt) {
                        _on_interrupt = false;
                        if (_current_state) {
                                _current_state->onInterrupt(INTERRUPT_END);
                        }
                }
        }
}

void StateInterface::simpleGoalCallback(
                const geometry_msgs::PoseStamped::ConstPtr &goal) {
        _on_interrupt = true;
        if (_current_state) {
                _current_state->onInterrupt(SIMPLE_GOAL_INTERRUPT);
        }
        rsm_msgs::SetNavigationGoal srv;
        srv.request.goal = goal->pose;
        srv.request.navigationMode = SIMPLE_GOAL;
        if (_set_navigation_goal_client.call(srv)) {
        } else {
                ROS_ERROR("Failed to call Set Navigation Goal service");
        }
}

bool StateInterface::startStopExplorationService(
                std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res) {
        if (_current_state) {
                bool success;
                std::string message;
                if (req.data) {
                        _current_state->onExplorationStart(success, message);
                } else {
                        _current_state->onExplorationStop(success, message);
                }
                res.success = success;
                res.message = message;
        } else {
                res.success = false;
                res.message = "No active state";
        }
        return true;
}

bool StateInterface::startStopWaypointFollowingService(
                std_srvs::SetBool::Request &req, std_srvs::SetBool::Response &res) {
        if (_current_state) {
                bool success;
                std::string message;
                if (req.data) {
                        _current_state->onWaypointFollowingStart(success, message);
                } else {
                        _current_state->onWaypointFollowingStop(success, message);
                }
                res.success = success;
                res.message = message;
        } else {
                res.success = false;
                res.message = "No active state";
        }
        return true;
}

bool StateInterface::stop2dNavGoal(std_srvs::Trigger::Request &req,
                std_srvs::Trigger::Response &res) {
        if (_current_state) {
                _current_state->onInterrupt(SIMPLE_GOAL_STOP_INTERRUPT);
        }
        return true;
}

bool StateInterface::stateInfoService(std_srvs::Trigger::Request &req,
                std_srvs::Trigger::Response &res) {
        res.success = true;
        res.message = _current_state->getName();
        return true;
}

}