Fawkes API  Fawkes Development Version
skiller_thread.h
1 
2 /***************************************************************************
3  * skiller_thread.h - ROS Action Server to receive skiller commands from ROS
4  *
5  * Created: Fri Jun 27 12:02:42 2014
6  * Copyright 2014 Till Hofmann
7  ****************************************************************************/
8 
9 /* This program is free software; you can redistribute it and/or modify
10  * it under the terms of the GNU General Public License as published by
11  * the Free Software Foundation; either version 2 of the License, or
12  * (at your option) any later version.
13  *
14  * This program is distributed in the hope that it will be useful,
15  * but WITHOUT ANY WARRANTY; without even the implied warranty of
16  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
17  * GNU Library General Public License for more details.
18  *
19  * Read the full text in the LICENSE.GPL file in the doc directory.
20  */
21 
22 #ifndef _ROS_SKILLER_THREAD_H_
23 #define _ROS_SKILLER_THREAD_H_
24 
25 #include <actionlib/server/simple_action_server.h>
26 #include <aspect/blackboard.h>
27 #include <aspect/blocked_timing.h>
28 #include <aspect/configurable.h>
29 #include <aspect/logging.h>
30 #include <core/threading/thread.h>
31 #include <fawkes_msgs/ExecSkillAction.h>
32 #include <fawkes_msgs/ExecSkillActionGoal.h>
33 #include <fawkes_msgs/ExecSkillGoal.h>
34 #include <interfaces/SkillerInterface.h>
35 #include <plugins/ros/aspect/ros.h>
36 #include <ros/ros.h>
37 #include <std_msgs/String.h>
38 
39 #include <string>
40 
41 namespace fawkes {
42 class SkillerInterface;
43 }
44 
47  public fawkes::LoggingAspect,
50  public fawkes::ROSAspect
51 {
52 public:
54 
55  /* thread */
56  virtual void init();
57  virtual void finalize();
58  virtual void once();
59  virtual void loop();
60 
61 private:
62  typedef actionlib::ActionServer<fawkes_msgs::ExecSkillAction> SkillerServer;
63 
64  void action_goal_cb(SkillerServer::GoalHandle goal);
65  void action_cancel_cb(SkillerServer::GoalHandle goal);
66  void message_cb(const std_msgs::String::ConstPtr &goal);
67 
68  void stop();
69  fawkes_msgs::ExecSkillResult create_result(const std::string &errmsg);
70  fawkes_msgs::ExecSkillFeedback create_feedback();
71 
72  bool assure_control();
73  void release_control();
74 
75 private:
76  fawkes::SkillerInterface *skiller_if_;
77 
78  SkillerServer * server_;
79  ros::Subscriber sub_cmd_;
80  ros::Publisher pub_status_;
81 
82  SkillerServer::GoalHandle as_goal_;
83  std::string goal_;
84 
85  bool exec_as_;
86  bool exec_request_;
87  bool exec_running_;
88  unsigned int exec_msgid_;
89  std::string exec_skill_string_;
90  unsigned int loops_waited_;
91 };
92 
93 #endif /* ROS_SKILLER_THREAD_H__ */
Accept skiller commands from ROS.
virtual void once()
Execute an action exactly once.
virtual void finalize()
Finalize the thread.
RosSkillerThread()
Contructor.
virtual void loop()
Code to execute in the thread.
virtual void init()
Initialize the thread.
Thread aspect to access to BlackBoard.
Definition: blackboard.h:34
Thread aspect to use blocked timing.
Thread aspect to access configuration data.
Definition: configurable.h:33
Thread aspect to log output.
Definition: logging.h:33
Thread aspect to get access to a ROS node handle.
Definition: ros.h:39
SkillerInterface Fawkes BlackBoard Interface.
Thread class encapsulation of pthreads.
Definition: thread.h:46
Fawkes library namespace.