controller_manager.h

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/* Author: Ioan Sucan */
 
#pragma once
 
#include <vector>
#include <string>
#include <moveit_msgs/msg/robot_trajectory.hpp>
#include <moveit/macros/class_forward.h>
#include <rclcpp/rclcpp.hpp>
 
namespace moveit_controller_manager
{
struct ExecutionStatus
{
  enum Value
  {
    UNKNOWN,
    RUNNING,
    SUCCEEDED,
    PREEMPTED,
    TIMED_OUT,
    ABORTED,
    FAILED
  };
 
  ExecutionStatus(Value value = UNKNOWN) : status_(value)
  {
  }
 
  operator Value() const
  {
    return status_;
  }
 
  explicit operator bool() const
  {
    return status_ == SUCCEEDED;
  }
 
  std::string asString() const
  {
    switch (status_)
    {
      case RUNNING:
        return "RUNNING";
      case SUCCEEDED:
        return "SUCCEEDED";
      case PREEMPTED:
        return "PREEMPTED";
      case TIMED_OUT:
        return "TIMED_OUT";
      case ABORTED:
        return "ABORTED";
      case FAILED:
        return "FAILED";
      default:
        return "UNKNOWN";
    }
  }
 
private:
  Value status_;
};
 
MOVEIT_CLASS_FORWARD(MoveItControllerHandle);  // Defines MoveItControllerHandlePtr, ConstPtr, WeakPtr... etc
 
class MoveItControllerHandle
{
public:
  MoveItControllerHandle(const std::string& name) : name_(name)
  {
  }
 
  virtual ~MoveItControllerHandle()
  {
  }
 
  const std::string& getName() const
  {
    return name_;
  }
 
  virtual bool sendTrajectory(const moveit_msgs::msg::RobotTrajectory& trajectory) = 0;
 
  virtual bool cancelExecution() = 0;
 
  virtual bool waitForExecution(const rclcpp::Duration& timeout = rclcpp::Duration::from_nanoseconds(-1)) = 0;
 
  virtual ExecutionStatus getLastExecutionStatus() = 0;
 
protected:
  std::string name_;
};
 
MOVEIT_CLASS_FORWARD(MoveItControllerManager);  // Defines MoveItControllerManagerPtr, ConstPtr, WeakPtr... etc
 
class MoveItControllerManager
{
public:
  struct ControllerState
  {
    ControllerState() : active_(false), default_(false)
    {
    }
 
    bool active_;
 
    bool default_;
  };
 
  MoveItControllerManager()
  {
  }
 
  virtual ~MoveItControllerManager()
  {
  }
 
  virtual void initialize(const rclcpp::Node::SharedPtr& node) = 0;
 
  virtual MoveItControllerHandlePtr getControllerHandle(const std::string& name) = 0;
 
  virtual void getControllersList(std::vector<std::string>& names) = 0;
 
  virtual void getActiveControllers(std::vector<std::string>& names) = 0;
 
  virtual void getControllerJoints(const std::string& name, std::vector<std::string>& joints) = 0;
 
  virtual ControllerState getControllerState(const std::string& name) = 0;
 
  virtual bool switchControllers(const std::vector<std::string>& activate,
                                 const std::vector<std::string>& deactivate) = 0;
};
}  // namespace moveit_controller_manager