manager.h

Go to the documentation of this file.

/**************************************************************************************************
 Software License Agreement (BSD License)

 Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
 All rights reserved.

 Redistribution and use in source and binary forms, with or without modification, are permitted
 provided that the following conditions are met:

  *Redistributions of source code must retain the above copyright notice, this list of
   conditions and the following disclaimer.
  *Redistributions in binary form must reproduce the above copyright notice, this list of
   conditions and the following disclaimer in the documentation and/or other materials provided
   with the distribution.
  *Neither the name of the University of Aveiro nor the names of its contributors may be used to
   endorse or promote products derived from this software without specific prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
 IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
 IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
 OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
***************************************************************************************************/
#ifndef _MANAGER_H_
#define _MANAGER_H_

#include <ros/ros.h>
#include <iostream>

#include <atlascar_base/ManagerStatus.h>
#include <atlascar_base/ManagerCommand.h>

#include <atlascar_base/GearboxStatus.h>
#include <atlascar_base/GearboxCommand.h>

#include <human_driver_monitor/HumanDriverMonitorStatus.h>
#include <odometer/OdometerStatus.h>

#include <atlascar_base/ThrottleStatus.h>
#include <atlascar_base/ThrottleCommand.h>

#include <atlascar_base/PlcStatus.h>
#include <atlascar_base/PlcCommand.h>

#include <topic_priority/topic_priority.h>

using namespace std;

namespace atlascar_base
{

class Manager
{
        public:
                Manager(const ros::NodeHandle& nh);
                
                ~Manager();
                
                void init();
                
                void setupMessaging();
                
                void loop();
        typedef enum 
        {
            UNKNOWN,
            INIT,
            
            STOPPED,
            MOVING,
            STOPPED_TO_MOVING,
            MOVING_TO_STOPPED            
        } CarState;
        
        typedef enum 
        {
            FIRST,
            SECOND,
            THIRD
        } sequentialState;
        
        
        private:
                
                void commandCallback(const atlascar_base::ManagerCommandPtr& command);
                
        CarState getCurrentState();
        
                void plcStatusCallback(const atlascar_base::PlcStatusPtr& status);
                
                void driverStatusCallback(const human_driver_monitor::HumanDriverMonitorStatusPtr& status);
                
                void odometerStatusCallback(const odometer::OdometerStatusPtr& status);
                
                void gearboxStatusCallback(const atlascar_base::GearboxStatusPtr& status);
                
                void throttleStatusCallback(const atlascar_base::ThrottleStatusPtr& status);    
        
                void toOutgoingMessages(const atlascar_base::ManagerCommandPtr& command);
                
                void stateManager(const atlascar_base::ManagerCommandPtr& command);
                
        void stoppedToMoving();
        
        void movingToStopped();
        
        
        sequentialState stm_state;
        sequentialState mts_state; 
        CarState current_state; 
        
        uint target_gear_;
                ros::NodeHandle nh_;
                ros::Subscriber command_sub_;
                ros::Subscriber status_plc_sub_;
                ros::Subscriber status_driver_sub_;
                ros::Subscriber status_odometer_sub_;
                ros::Subscriber status_gearbox_sub_;
                ros::Subscriber status_throttle_sub_;
                ros::Publisher status_pub_;
                ros::Publisher command_plc_pub_;
                ros::Publisher command_gearbox_pub_;
                ros::Publisher command_throttle_pub_;
                TopicQueuePriority<atlascar_base::ManagerCommandPtr> command_queue_;            
                bool verbose_;
                atlascar_base::ManagerCommandPtr command_;
                atlascar_base::ManagerCommandPtr safety_command_;
                atlascar_base::ManagerStatus status_;
                atlascar_base::GearboxCommand gearbox_command_;
                atlascar_base::GearboxStatus gearbox_status_;
                atlascar_base::PlcCommand plc_command_;
                atlascar_base::PlcStatus plc_status_;
                human_driver_monitor::HumanDriverMonitorStatus driver_status_;
                atlascar_base::ThrottleCommand throttle_command_;
                atlascar_base::ThrottleStatus throttle_status_;
                odometer::OdometerStatus odometer_status_;
};

}

#endif