state_daemon.h

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/*
 * Copyright 2022 Technical University of Munich, Chair of Materials Handling,
 * Material Flow, Logistics – All Rights Reserved
 * 
 * You may use, distribute and modify this code under the terms of the 3-clause
 * BSD license. You should have received a copy of that license with this file.
 * If not, please write to {kontakt.fml@ed.tum.de}.
 */

#ifndef ORDER_DAEMON_H
#define ORDER_DAEMON_H
#include <ros/ros.h>
#include <string>
#include <ros/console.h>
#include <std_msgs/UInt32.h>
#include <std_msgs/Float64.h>
#include <std_msgs/Int8.h>
#include <std_msgs/Bool.h>
#include <nav_msgs/Odometry.h>
#include <sensor_msgs/BatteryState.h>
#include "daemon.h"
#include "std_msgs/String.h"
#include "boost/date_time/posix_time/posix_time.hpp"

#include "vda5050_msgs/State.h"
#include "vda5050_msgs/NodeStates.h"
#include "vda5050_msgs/NodeState.h"
#include "vda5050_msgs/EdgeStates.h"
#include "vda5050_msgs/EdgeState.h"
#include "vda5050_msgs/AGVPosition.h"
#include "vda5050_msgs/Loads.h"
#include "vda5050_msgs/ActionStates.h"
#include "vda5050_msgs/Errors.h"
#include "vda5050_msgs/Information.h"
#include "vda5050_msgs/SafetyState.h"

class StateDaemon: public Daemon
{
        private:
        vda5050_msgs::State stateMessage;
        ros::Publisher pub;
        /* Declare all ROS subscriber and publisher topics for internal
         * communication.
         */

        ros::Subscriber actionStatesSub;
        ros::Duration updateInterval;
        ros::Time lastUpdateTimestamp;
        bool newPublishTrigger;
        public:
        StateDaemon();

        bool CheckPassedTime();

        void LinkPublishTopics(ros::NodeHandle *nh);

        void LinkSubscriptionTopics(ros::NodeHandle *nh);

        void PublishState();

        void UpdateState();
        
        double CalculateAgvOrientation(const nav_msgs::Odometry::ConstPtr& msg);
        
        // ---- ALL THE CALLBACKS ----
        
        void OrderIdCallback(const std_msgs::String::ConstPtr& msg);
        
        void OrderUpdateIdCallback(const std_msgs::UInt32::ConstPtr& msg);
        
        void ZoneSetIdCallback(const std_msgs::String::ConstPtr& msg);
        
        void LastNodeIdCallback(const std_msgs::String::ConstPtr& msg);
        
        void LastNodeSequenceIdCallback(const std_msgs::UInt32::ConstPtr& msg);
        
        void NodeStatesCallback(const vda5050_msgs::NodeStates::ConstPtr& msg);
        
        void EdgeStatesCallback(const vda5050_msgs::EdgeStates::ConstPtr& msg);
        
        void AGVPositionCallback(const vda5050_msgs::AGVPosition::ConstPtr& msg);
        
        void AGVPositionInitializedCallback(const std_msgs::Bool::ConstPtr& msg);
        
        void AGVPositionLocalizationScoreCallback(const std_msgs::Float64::ConstPtr& msg);
        
        void AGVPositionDeviationRangeCallback(const std_msgs::Float64::ConstPtr& msg);
        
        void ROSAGVPositionCallback(const nav_msgs::Odometry::ConstPtr& msg);
        
        void AGVPositionMapIdCallback(const std_msgs::String::ConstPtr& msg);
        
        void AGVPositionMapDescriptionCallback(const std_msgs::String::ConstPtr& msg);
        
        void ROSVelocityCallback(const nav_msgs::Odometry::ConstPtr& msg);
        
        void LoadsCallback(const vda5050_msgs::Loads::ConstPtr& msg);
        
        void DrivingCallback(const std_msgs::Bool::ConstPtr& msg);
        
        void PausedCallback(const std_msgs::Bool::ConstPtr& msg);
        
        void NewBaseRequestCallback(const std_msgs::Bool::ConstPtr& msg);
        
        void DistanceSinceLastNodeCallback(const std_msgs::Float64::ConstPtr& msg);
        
        void ActionStateCallback(const vda5050_msgs::ActionState::ConstPtr& msg);
        
        void BatteryStateCallback(const vda5050_msgs::BatteryState::ConstPtr& msg);
        
        void BatteryStateBatteryHealthCallback(const std_msgs::Int8::ConstPtr& msg);
        
        void BatteryStateChargingCallback(const std_msgs::Bool::ConstPtr& msg);
        
        void BatteryStateReachCallback(const std_msgs::UInt32::ConstPtr& msg);
        
        void ROSBatteryInfoCallback(const sensor_msgs::BatteryState::ConstPtr& msg);
        
        void OperatingModeCallback(const std_msgs::String::ConstPtr& msg);
        
        void ErrorsCallback(const vda5050_msgs::Errors::ConstPtr& msg);
        
        void InformationCallback(const vda5050_msgs::Information::ConstPtr& msg);
        
        void SafetyStateCallback(const vda5050_msgs::SafetyState::ConstPtr& msg);
        
        void SafetyStateEstopCallback(const std_msgs::String::ConstPtr& msg);
        
        void SafetyStateFieldViolationCallback(const std_msgs::Bool::ConstPtr& msg);
};
#endif