controllers.hpp

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/* Author: David V. Lu!! */
#pragma once
 
#include <moveit_setup_framework/setup_step.hpp>
#include <moveit_setup_framework/data/srdf_config.hpp>
#include <moveit_setup_controllers/controllers_config.hpp>
 
namespace moveit_setup
{
namespace controllers
{
class AdditionalControllerField
{
public:
  AdditionalControllerField(const std::string& display_name, const std::string& parameter_name)
    : display_name_(display_name), parameter_name_(parameter_name)
  {
  }
 
  AdditionalControllerField() = default;
  AdditionalControllerField(const AdditionalControllerField&) = default;
  AdditionalControllerField(AdditionalControllerField&&) = default;
  AdditionalControllerField& operator=(const AdditionalControllerField&) = default;
  AdditionalControllerField& operator=(AdditionalControllerField&&) = default;
  virtual ~AdditionalControllerField() = default;
 
  virtual std::string getDefaultValue(const std::string& /*controller_type*/) const
  {
    return "";
  }
 
  std::string display_name_;
  std::string parameter_name_;
};
 
using FieldPointers = std::vector<std::shared_ptr<AdditionalControllerField>>;
 
class Controllers : public SetupStep
{
public:
  virtual std::string getInstructions() const = 0;
 
  virtual std::string getButtonText() const = 0;
 
  virtual std::vector<std::string> getAvailableTypes() const = 0;
 
  virtual std::string getDefaultType() const = 0;
 
  virtual FieldPointers getAdditionalControllerFields() const
  {
    return FieldPointers();
  }
 
  bool isReady() const override
  {
    return !srdf_config_->getGroups().empty();
  }
 
  const std::vector<std::string>& getJointNames() const
  {
    return srdf_config_->getRobotModel()->getJointModelNames();
  }
 
  std::vector<std::string> getGroupNames() const
  {
    return srdf_config_->getGroupNames();
  }
 
  std::string getChildOfJoint(const std::string& joint_name) const
  {
    return srdf_config_->getChildOfJoint(joint_name);
  }
 
  std::vector<ControllerInfo>& getControllers() const
  {
    return controllers_config_->getControllers();
  }
 
  bool addController(const ControllerInfo& new_controller)
  {
    return controllers_config_->addController(new_controller);
  }
 
  ControllerInfo* findControllerByName(const std::string& controller_name)
  {
    return controllers_config_->findControllerByName(controller_name);
  }
 
  bool deleteController(const std::string& controller_name)
  {
    return controllers_config_->deleteController(controller_name);
  }
 
  bool addDefaultControllers();
 
  std::vector<std::string> getJointsFromGroups(const std::vector<std::string>& group_names) const;
 
protected:
  std::shared_ptr<SRDFConfig> srdf_config_;
  std::shared_ptr<ControllersConfig> controllers_config_;
};
}  // namespace controllers
}  // namespace moveit_setup