throttle.h

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#ifndef _THROTTLE_H_
#define _THROTTLE_H_

#include <ros/ros.h>
#include <iostream>
#include <boost/lexical_cast.hpp>

#include <tcp_client/AsyncClient.h>

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>

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

#include <topic_priority/topic_priority.h>

#include <boost/thread/thread.hpp>
#include <boost/format.hpp>
#include <boost/spirit/include/qi.hpp>
#include <boost/spirit/include/phoenix_core.hpp>
#include <boost/spirit/include/phoenix_operator.hpp>

using namespace std;

namespace atlascar_base
{

class Throttle
{
        public:
                Throttle(const ros::NodeHandle& nh,std::string ip,std::string port):
                nh_(nh),
                current_mode_(MANUAL),
                server_ip_(ip),
                server_port_(port),     status_freq_("Throttle",updater_,diagnostic_updater::FrequencyStatusParam(&status_min_frequency_,&status_max_frequency_, 0.01, 10)),
                status_max_frequency_(51.0),
                status_min_frequency_(49.0),
                comm_(io_service_,server_ip_,server_port_)
                {}
                
                ~Throttle()
                {}
                
                void init()
                {
                        safety_command_.reset(new atlascar_base::ThrottleCommand);
                        
                        //Set the safety message default values, this messages will never be removed from the list
                        safety_command_->lifetime=INFINITY;
                        safety_command_->priority=0;
                        safety_command_->throttle=0;
                        safety_command_->mode=MANUAL;
                        
                        //Push the safety message into the queue
                        command_queue_.push_msg(safety_command_);
                        
                        //Set diagnostics
                        updater_.setHardwareID("throttle");
                        updater_.add("Throttle",this,&atlascar_base::Throttle::diagnostics);
                        
                        //Setup the new data handler
                        comm_.readHandler.connect(boost::bind(&Throttle::newData,this,_1));
                        
                        //Setup the on successful connection handler
                        comm_.connectHandler.connect(boost::bind(&Throttle::connectHandler,this));
                }
                
                void setupMessaging()
                {
                        command_sub_ = nh_.subscribe("command", 1, &Throttle::commandCallback, this);
                        status_pub_ = nh_.advertise<atlascar_base::ThrottleStatus>("status", 1);
                }
                
                void loop()
                {
                        //Run io service on a different tread
                        boost::thread thread(boost::bind(&boost::asio::io_service::run, &io_service_));
                        
                        ros::Rate r(50);//Hz
                        
                        do
                        {
                                updater_.update();
                                
                                //Get top layer message, the command message that has the most priority and is still valid
                                command_=command_queue_.top_msg();
                                                                
                                //If the demanded mode is different from the current mode, set the mode
                                if(status_.mode!=(int)command_->mode)
                                {
                                        boost::format fmt("set mode %d\n");
                                        fmt % command_->mode;

                                        try
                                        {
                                                comm_.write(fmt.str());
                                        }catch(std::exception& e)
                                        {
                                                std::cout<<"Cannot set mode: "<<e.what()<<std::endl;
                                        }
                                }
                                
                                //If we are in auto mode send throttle
                                if(status_.mode==AUTO)
                                {
                                        boost::format fmt("set throttle %lf\n");
                                        fmt % command_->throttle;
                                        
                                        try
                                        {
                                                comm_.write(fmt.str());
                                        }catch(std::exception& e)
                                        {
                                                std::cout<<"Cannot set throttle: "<<e.what()<<std::endl;
                                        }
                                }
                                
                                if( comm_.isConnected() &&  (ros::Time::now()-status_.header.stamp).toSec() > 1.0)
                                {
                                        comm_.reconnect();
                                }
                                
                                //Spin ros and sleep the desired amount
                                ros::spinOnce();
                                r.sleep();
                        }while(ros::ok());
                        
                        //Stop the io service running in a separate thread
                        io_service_.stop();
                        //Join the thread
                        thread.join();
                }

        private:

                enum {MANUAL=0,AUTO=1};
                
                void diagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat)
                {
                        if(!comm_.isConnected())
                        {
                                stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "No connection to hardware.");
                                stat.add("Status",comm_.error_.message());
                                stat.add("Trying to connect to",server_ip_);
                                stat.add("Port number",server_port_);
                        }else
                        {
                                stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "No problems.");
                                stat.add("Connected with",server_ip_);
                                stat.add("Port number",server_port_);
                                
                                boost::format fmt("%.4f");
                                fmt % (ros::Time::now()-status_.header.stamp).toSec();
                        
                                stat.add("Last message received", fmt.str()+" seconds ago" );
                        }
                }
                
                void connectHandler(void)
                {
                        try
                        {
                                comm_.write("start");
                        }catch(std::exception& e)
                        {
                                std::cout << "Exception: " << e.what() << "\n";
                        }
                        
                        status_.header.stamp=ros::Time::now();
                }
                
                void commandCallback(const atlascar_base::ThrottleCommandPtr& command)
                {
                        command_queue_.push_msg(command);
                }
                
                void newData(string data)
                {
                        namespace qi = boost::spirit::qi;
                        using qi::double_;
                        using qi::int_;
                        using qi::ascii::space;
                        using boost::spirit::ascii::string;
                        using qi::_1;
                        using boost::phoenix::ref;
                        
                        //Parse the received data, the 3 strings must match exactly
                        qi::phrase_parse(data.begin(),data.end(), 
                                                                                        string("mode") >> int_[ref(status_.mode) = _1] >>
                                                                                        string("throttle") >> double_[ref(status_.throttle) = _1] >>
                                                                                        string("pedal") >> double_[ref(status_.footPedal) = _1]
                                                                                        ,space);
                        
                        status_.header.stamp = ros::Time::now();
                        status_.header.frame_id = "";
                        status_pub_.publish(status_);
                        status_freq_.tick();
                }
                
                ros::NodeHandle nh_;
                ros::Subscriber command_sub_;
                ros::Publisher status_pub_;
                TopicQueuePriority<atlascar_base::ThrottleCommandPtr> command_queue_;
                atlascar_base::ThrottleCommandPtr command_;
                atlascar_base::ThrottleCommandPtr safety_command_;
                atlascar_base::ThrottleStatus status_;
                int current_mode_;
                
                std::string server_ip_;
                std::string server_port_;
                        
                diagnostic_updater::Updater updater_;
                diagnostic_updater::HeaderlessTopicDiagnostic status_freq_;
                double status_max_frequency_;
                double status_min_frequency_;
                
                boost::asio::io_service io_service_;
                AsyncClient comm_;
};

}

#endif