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#include "manager.h"

namespace atlascar_base
{

Manager::Manager(const ros::NodeHandle& nh)
:nh_(nh)
{}

Manager::~Manager()
{}

void Manager::init()
{
        safety_command_.reset(new atlascar_base::ManagerCommand);
        
        //Set the safety message default values, this messages will never be removed from the list
        safety_command_->lifetime=INFINITY;
        safety_command_->priority=0;
        
        //Push the safety message into the queue
        command_queue_.push_msg(safety_command_);
}

void Manager::setupMessaging()
{
        command_sub_ = nh_.subscribe("command", 1, &Manager::commandCallback, this);
        
        status_plc_sub_ = nh_.subscribe("plc_status", 1, &Manager::plcStatusCallback, this);
        status_driver_sub_ = nh_.subscribe("driver_status", 1, &Manager::driverStatusCallback, this);
        status_odometer_sub_ = nh_.subscribe("odometer_status", 1, &Manager::odometerStatusCallback, this);
        status_gearbox_sub_ = nh_.subscribe("gearbox_status", 1, &Manager::gearboxStatusCallback, this);
        status_throttle_sub_ = nh_.subscribe("throttle_status", 1, &Manager::throttleStatusCallback, this);
        
        status_pub_ = nh_.advertise<atlascar_base::ManagerStatus>("status", 1);
        
        command_plc_pub_ = nh_.advertise<atlascar_base::PlcCommand>("plc_command", 1);
        
        command_gearbox_pub_ = nh_.advertise<atlascar_base::GearboxCommand>("gearbox_command", 1);
        command_throttle_pub_ = nh_.advertise<atlascar_base::ThrottleCommand>("throttle_command", 1);
}

void Manager::toOutgoingMessages(const atlascar_base::ManagerCommandPtr& command)
{
        gearbox_command_.gear=command->gear;
        gearbox_command_.priority=command->priority;
        gearbox_command_.lifetime=command->lifetime;

        gearbox_command_.header=command->header;
        
        plc_command_.clutch=command->clutch;
        plc_command_.brake=command->brake;
        plc_command_.steering_wheel=command->steering_wheel;
        plc_command_.rpm=0;
        plc_command_.lights_high=command->lights_high;
        plc_command_.lights_medium=command->lights_medium;
        plc_command_.lights_minimum=0;
        plc_command_.lights_left=command->lights_left;
        plc_command_.lights_right=command->lights_right;
        plc_command_.lights_brake=command->lights_brake;
        plc_command_.lights_reverse=command->lights_reverse;
        plc_command_.lights_warning=command->lights_warning;
        plc_command_.ignition=command->ignition;
        plc_command_.emergency=command->emergency;
        plc_command_.auto_ignition=command->auto_ignition;
        plc_command_.auto_brake=command->auto_brake;
        plc_command_.auto_direction=command->auto_direction;
        plc_command_.auto_clutch=command->auto_clutch;
        plc_command_.priority=command->priority;
        plc_command_.lifetime=command->lifetime;

        plc_command_.header=command->header;
                
        throttle_command_.throttle=command->throttle;
        throttle_command_.mode=command->auto_throttle;
        throttle_command_.priority=command->priority;
        throttle_command_.lifetime=command->lifetime;
        
        throttle_command_.header=command->header;
}

void Manager::commandCallback(const atlascar_base::ManagerCommandPtr& command)
{
        command_queue_.push_msg(command);
        
        //Get top message and send it instantly
        command_=command_queue_.top_msg();
        
        toOutgoingMessages(command_);
        
        //Publish all messages
        command_plc_pub_.publish(plc_command_);
        command_gearbox_pub_.publish(gearbox_command_);
        command_throttle_pub_.publish(throttle_command_);
}

void Manager::plcStatusCallback(const atlascar_base::PlcStatusPtr& status)
{
        status_.clutch = status->clutch;
        status_.brake = status->brake;
        status_.steering_wheel = status->steering_wheel;
        status_.rpm = status->rpm;
        
        status_.lights_brake=status->lights_brake;
        status_.lights_reverse=status->lights_reverse;
        status_.lights_warning=status->lights_warning;
        
        status_.emergency=status->emergency;
        status_.auto_ignition=status->auto_ignition;
        status_.auto_brake=status->auto_brake;
        status_.auto_direction=status->auto_direction;
        status_.auto_clutch=status->auto_clutch;
}

void Manager::driverStatusCallback(const human_driver_monitor::HumanDriverMonitorStatusPtr& status)
{
        status_.lights_high=status->lights_high;
        status_.lights_medium=status->lights_medium;
        status_.lights_left=status->lights_left;
        status_.lights_right=status->lights_right;
        status_.lights_danger=status->lights_danger;

        status_.ignition=status->ignition;

        status_.horn=status->horn;

        status_.throttle_pressure=status->throttle_pressure;
        status_.brake_pressure=status->brake_pressure;
        status_.clutch_pressure=status->clutch_pressure;
}

void Manager::odometerStatusCallback(const odometer::OdometerStatusPtr& status)
{
        status_.velocity=status->velocity;
}

void Manager::gearboxStatusCallback(const atlascar_base::GearboxStatusPtr& status)
{
        status_.gear=status->gear;
        status_.gearbox_status=status->status;
}

void Manager::throttleStatusCallback(const atlascar_base::ThrottleStatusPtr& status)
{
        status_.throttle=status->throttle;
        status_.throttle_pedal=status->footPedal;
        status_.auto_throttle=status->mode;
}

void Manager::stateManager(const atlascar_base::ManagerCommandPtr& command)
{
        //Do state management and set the output variables to the command messages
}

void Manager::loop()
{
        ros::Rate r(20);//Hz
        
        do
        {
                //Get top layer message, the command message that has the most priority and is still valid
                command_=command_queue_.top_msg();
                
                if(command_->direct_control==1)//Direct command mode
                {
                        //Put command message into outgoing messages
                        toOutgoingMessages(command_);
                        
                        //Publish all messages
                        command_plc_pub_.publish(plc_command_);
                        command_gearbox_pub_.publish(gearbox_command_);
                        command_throttle_pub_.publish(throttle_command_);
                }else if(command_->direct_control==2)//High command mode
                {
                        stateManager(command_);
                        
                        //Publish all messages
                        command_plc_pub_.publish(plc_command_);
                        command_gearbox_pub_.publish(gearbox_command_);
                        command_throttle_pub_.publish(throttle_command_);
                }
                
                //Publish the status message
                status_.header.stamp = ros::Time::now();
                status_.header.frame_id = "";
                status_pub_.publish(status_);
                
                //Spin ros and sleep the desired amount
                ros::spinOnce();
                r.sleep();
        }while(ros::ok());
}

}

---

atlascar_base
Author(s): Jorge Almeida, Miguel Oliveira, Pedro Salvado, Andre Oliveira and Pedro Pinheiro
autogenerated on Wed Jul 23 04:34:34 2014