maneuvers.h

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#ifndef _MANEUVERS_H_
#define _MANEUVERS_H_

#include <ros/ros.h>
#include <atlascar_base/Gamepad.h>
#include <atlascar_base/ManagerCommand.h>
#include <atlascar_base/ManagerStatus.h>
#include <fstream>

using namespace std;

namespace atlascar_base
{
class Maneuvers
{
    public:        
        Maneuvers(const ros::NodeHandle& nh_):
        nh(nh_)
        {       
//             command_msgs.header

            command_msg.priority = 1;
            command_msg.lifetime = std::numeric_limits<double>::infinity();

            command_msg.velocity = 0;

            command_msg.auto_ignition = 1;
            command_msg.auto_brake = 1;
            command_msg.auto_direction = 1;
            command_msg.auto_clutch = 1;
            command_msg.auto_throttle = 1;

            command_msg.direct_control = 2;
        }
        
        void init();
        
        void setupMessaging();
        
        void stateManager();
        
        void loop();
        
        typedef enum 
        {
            UNKNOWN,
            INIT,
            
            POSITIVE_VELOCITY,
            NEUTRAL_VELOCITY,
            NEGATIVE_VELOCITY,
            PARALLEL_PARKING,
            REVERSING,
            NEUTRAL_VELOCITY_PARKING,
        } CarState;
        
        typedef enum 
        {
            FIRST,
            SECOND,
            THIRD,
            FOURTH,
            FIFTH,
            SIXTH,
            SEVENTH,
            EIGHTH,
            NINETH,
            TENTH
        } sequentialState;
        
        int maneuver;  
        
    protected:  
        
                double map(double value,double min_value,double max_value,double min_required,double max_required);
                
        void saveData(string report_name);
        void positive_velocity(int value);
        
        void neutral_velocity(int value);
        
        void neutral_velocity_parking(int value);
        void negative_velocity(int value);
        
        void parallel_parking(int value);
                
        void reversing(int value);

        void statusCallback(const atlascar_base::ManagerStatusPtr& status);
        
        void parallel();
        
        void reverse();
        
        CarState current_state; 
        
        sequentialState pparking;
        
        sequentialState rreverse;
        
        ros::NodeHandle nh;
        
        ros::Publisher command_pub;
        
        ros::Subscriber command_sub_;
        
        ros::Subscriber status_sub;
            
        atlascar_base::ManagerCommand command_msg;
        
        atlascar_base::ManagerStatus status_msg;
                
                atlascar_base::ManagerStatus status_memory;

        Gamepad gamepad;
                
};

}
#endif