remote_control.h

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/* Author: Dave Coleman <dave@picknik.ai>
   Desc:   Tool for creating break points and user verification points through
           manipulation pipelines or other live robotitc tool.
           Think GDB for robots, or like, a state machine.
*/
 
#pragma once
 
// C++
#include <string>
 
// ROS
#include <ros/ros.h>
#include <sensor_msgs/Joy.h>
 
namespace rviz_visual_tools
{
typedef std::function<void(bool)> DisplayWaitingState;
 
class RemoteControl
{
public:
  explicit RemoteControl(const ros::NodeHandle& nh);
 
  void rvizDashboardCallback(const sensor_msgs::Joy::ConstPtr& msg);
 
  bool setReadyForNextStep();
 
  void setAutonomous(bool autonomous = true);
  void setFullAutonomous(bool autonomous = true);
 
  bool getAutonomous();
  bool getFullAutonomous();
 
  void setStop(bool stop = true);
 
  bool getStop();
 
  bool waitForNextStep(const std::string& caption = "go to next step");
  bool waitForNextFullStep(const std::string& caption = "go to next full step");
 
  bool isWaiting()
  {
    return is_waiting_;
  }
 
  void setDisplayWaitingState(DisplayWaitingState displayWaitingState)
  {
    displayWaitingState_ = displayWaitingState;
  }
 
private:
  // A shared node handle
  ros::NodeHandle nh_;
 
  // Short name for this class
  std::string name_ = "remote_control";
 
  // Input
  ros::Subscriber rviz_dashboard_sub_;
 
  // Debug interface
  bool is_waiting_ = false;
  bool next_step_ready_ = false;
  bool autonomous_ = false;
  bool full_autonomous_ = false;
  bool stop_ = false;
 
  // Callback to visualize waiting state
  DisplayWaitingState displayWaitingState_;
};  // end class
 
typedef std::shared_ptr<RemoteControl> RemoteControlPtr;
typedef std::shared_ptr<const RemoteControl> RemoteControlConstPtr;
 
}  // namespace rviz_visual_tools