vrepSubscriber.h

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// This file is part of the ROS PLUGIN for V-REP
// 
// Copyright 2006-2014 Coppelia Robotics GmbH. All rights reserved. 
// marc@coppeliarobotics.com
// www.coppeliarobotics.com
// 
// A big thanks to Svetlin Penkov for his precious help!
// 
// The ROS PLUGIN is licensed under the terms of GNU GPL:
// 
// -------------------------------------------------------------------
// The ROS PLUGIN is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
// 
// THE ROS PLUGIN IS DISTRIBUTED "AS IS", WITHOUT ANY EXPRESS OR IMPLIED
// WARRANTY. THE USER WILL USE IT AT HIS/HER OWN RISK. THE ORIGINAL
// AUTHORS AND COPPELIA ROBOTICS GMBH WILL NOT BE LIABLE FOR DATA LOSS,
// DAMAGES, LOSS OF PROFITS OR ANY OTHER KIND OF LOSS WHILE USING OR
// MISUSING THIS SOFTWARE.
// 
// See the GNU General Public License for more details.
// 
// You should have received a copy of the GNU General Public License
// along with the ROS PLUGIN.  If not, see <http://www.gnu.org/licenses/>.
// -------------------------------------------------------------------
//
// This file was automatically created for V-REP release V3.1.3 on Sept. 30th 2014

#ifndef VREP_SUBSCRIBER_H
#define VREP_SUBSCRIBER_H

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

#include <sensor_msgs/Image.h>
#include <sensor_msgs/image_encodings.h>
#include <sensor_msgs/JointState.h>
#include <sensor_msgs/Joy.h>
#include <std_msgs/Int32MultiArray.h>
#include <std_msgs/Float32.h>
#include <std_msgs/Float64.h>
#include <std_msgs/Int32.h>
#include <std_msgs/UInt8.h>
#include <std_msgs/String.h>
#include <geometry_msgs/Point.h>
#include <geometry_msgs/Vector3.h>
#include <geometry_msgs/PoseStamped.h>
#include <geometry_msgs/Quaternion.h>
#include <geometry_msgs/Twist.h>
#include "vrep_common/VisionSensorDepthBuff.h"
#include "vrep_common/ForceSensorData.h"
#include "vrep_common/ProximitySensorData.h"
#include "vrep_common/VisionSensorData.h"
#include "vrep_common/VrepInfo.h"
#include "vrep_common/JointSetStateData.h"
//#include <trajectory_msgs/JointTrajectory.h>

/*
struct SJointTrajectory
{
        std::vector<std::string> jointNames;
        std::vector<SJointTrajectoryPoint> points
};

struct SJointTrajectoryPoint
{
        std::vector<double> positions;
        std::vector<double> velocities;
        std::vector<double> accelerations;
        std::vector<double> effort;
        float timeFromStart;
};
*/

class CSubscriberData
{
public:
        CSubscriberData(ros::NodeHandle* node,const char* _topicName,int queueSize,int _streamCmd,int _auxInt1,int _auxInt2,const char* _auxString,image_transport::ImageTransport* images_streamer[1],int& imgStreamerCnt);
        virtual ~CSubscriberData();

        bool getIsValid();
        void setSubscriberID(int id);
        int getSubscriberID();
        void shutDownSubscriber();

protected:
        void shutDownGeneralSubscriber();
        void shutDownImageSubscriber();

        bool isValid;
        int cmdID;
        int auxInt1;
        int auxInt2;
        int subscriberID;
        std::string auxStr;
        std::string topicName;
        ros::Subscriber generalSubscriber;
        image_transport::Subscriber imageSubscriber;

public:
        void addStatusbarMessageCallback(const std_msgs::String::ConstPtr& msg);
        void auxiliaryConsolePrintCallback(const std_msgs::String::ConstPtr& txt);
        void clearFloatSignalCallback(const std_msgs::UInt8::ConstPtr& options);
        void clearIntegerSignalCallback(const std_msgs::UInt8::ConstPtr& options);
        void clearStringSignalCallback(const std_msgs::UInt8::ConstPtr& options);
        void setArrayParameterCallback(const geometry_msgs::Point32::ConstPtr& param);
        void setBooleanParameterCallback(const std_msgs::UInt8::ConstPtr& param);
        void setFloatingParameterCallback(const std_msgs::Float32::ConstPtr& param);
        void setIntegerParameterCallback(const std_msgs::Int32::ConstPtr& param);
        void setFloatSignalCallback(const std_msgs::Float32::ConstPtr& sig);
        void setIntegerSignalCallback(const std_msgs::Int32::ConstPtr& sig);
        void setJointForceCallback(const std_msgs::Float64::ConstPtr& force);
        void setJointPositionCallback(const std_msgs::Float64::ConstPtr& pos);
        void setJointTargetPositionCallback(const std_msgs::Float64::ConstPtr& pos);
        void setJointTargetVelocityCallback(const std_msgs::Float64::ConstPtr& vel);
        void setTwistCommandCallback(const geometry_msgs::Twist::ConstPtr& vel);
        void setObjectFloatParameterCallback(const std_msgs::Float32::ConstPtr& param);
        void setObjectIntParameterCallback(const std_msgs::Int32::ConstPtr& param);
        void setObjectPoseCallback(const geometry_msgs::PoseStamped::ConstPtr& pose);
        void setObjectPositionCallback(const geometry_msgs::Point::ConstPtr& pos);
        void setObjectQuaternionCallback(const geometry_msgs::Quaternion::ConstPtr& quaternion);
        void setObjectSelectionCallback(const std_msgs::Int32MultiArray::ConstPtr& objHandles);
        void setStringSignalCallback(const std_msgs::String::ConstPtr& sig);
        void appendStringSignalCallback(const std_msgs::String::ConstPtr& sig);
        void setUIButtonLabelCallback(const std_msgs::String::ConstPtr& label);
        void setUIButtonPropertyCallback(const std_msgs::Int32::ConstPtr& prop);
        void setUISlider(const std_msgs::Int32::ConstPtr& pos);
        void setVisionSensorImageCallback(const sensor_msgs::Image::ConstPtr& image);
        void setJoySensorCallback(const sensor_msgs::Joy::ConstPtr& joyPacket); 
        void setJointStateCallback(const vrep_common::JointSetStateData::ConstPtr& data);
//      void setJointTrajectoryCallback(const trajectory_msgs::JointTrajectory::ConstPtr& data);
};

#endif