dds_ros_bridge.h

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/* Copyright (c) 2017, United States Government, as represented by the
 * Administrator of the National Aeronautics and Space Administration.
 * 
 * All rights reserved.
 * 
 * The Astrobee platform is licensed under the Apache License, Version 2.0
 * (the "License"); you may not use this file except in compliance with the
 * License. You may obtain a copy of the License at
 * 
 *     http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations
 * under the License.
 */
 
#ifndef DDS_ROS_BRIDGE_DDS_ROS_BRIDGE_H_
#define DDS_ROS_BRIDGE_DDS_ROS_BRIDGE_H_
 
#include <pluginlib/class_list_macros.h>
 
#include <map>
#include <memory>
#include <string>
#include <vector>
 
#include "config_reader/config_reader.h"
 
#include "dds_ros_bridge/rapid_command_ros_command_plan.h"
#include "dds_ros_bridge/rapid_compressed_file_ros_compressed_file.h"
#include "dds_ros_bridge/rapid_pub.h"
#include "dds_ros_bridge/rapid_sub_ros_pub.h"
#include "dds_ros_bridge/ros_access_control.h"
#include "dds_ros_bridge/ros_ack.h"
#include "dds_ros_bridge/ros_agent_state.h"
#include "dds_ros_bridge/ros_arm_joint_sample.h"
#include "dds_ros_bridge/ros_arm_state.h"
#include "dds_ros_bridge/ros_battery_state.h"
#include "dds_ros_bridge/ros_command.h"
#include "dds_ros_bridge/ros_command_config_rapid_command_config.h"
#include "dds_ros_bridge/ros_compressed_file_ack.h"
#include "dds_ros_bridge/ros_compressed_file_rapid_compressed_file.h"
#include "dds_ros_bridge/ros_compressed_image_rapid_image.h"
#include "dds_ros_bridge/ros_cpu_state.h"
#include "dds_ros_bridge/ros_data_to_disk.h"
#include "dds_ros_bridge/ros_disk_state.h"
#include "dds_ros_bridge/ros_fault_config.h"
#include "dds_ros_bridge/ros_fault_state.h"
#include "dds_ros_bridge/ros_gnc_fam_cmd_state.h"
#include "dds_ros_bridge/ros_gnc_control_state.h"
#include "dds_ros_bridge/ros_guest_science.h"
#include "dds_ros_bridge/ros_inertia.h"
#include "dds_ros_bridge/ros_log_sample.h"
#include "dds_ros_bridge/ros_odom_rapid_position.h"
#include "dds_ros_bridge/ros_payload_state.h"
#include "dds_ros_bridge/ros_plan_status_rapid_plan_status.h"
#include "dds_ros_bridge/ros_pmc_cmd_state.h"
#include "dds_ros_bridge/ros_pose_rapid_position.h"
#include "dds_ros_bridge/ros_string_rapid_text_message.h"
#include "dds_ros_bridge/ros_sub_rapid_pub.h"
#include "dds_ros_bridge/ros_telemetry_rapid_telemetry.h"
#include "dds_ros_bridge/ros_zones_rapid_compressed_file.h"
 
#include "ff_msgs/SetRate.h"
 
#include "ff_common/ff_names.h"
#include "ff_util/ff_nodelet.h"
 
// SoraCore Includes
#include "knDds/DdsSupport.h"
#include "knDds/DdsEntitiesFactory.h"
#include "knDds/DdsEntitiesFactorySvc.h"
 
// miro includes
#include "miro/Configuration.h"
#include "miro/Robot.h"
#include "miro/Log.h"
 
// ros includes
#include "std_msgs/String.h"
 
namespace kn {
  class DdsEntitiesFactorySvc;
}  // end namespace kn
 
namespace dds_ros_bridge {
 
enum RateType {
  COMM_STATUS,
  CPU_STATE,
  DISK_STATE,
  EKF_STATE,
  GNC_STATE,
  PMC_CMD_STATE,
  POSITION,
  SPARSE_MAPPING_POSE
};
 
class RosSubRapidPub;
 
class DdsRosBridge : public ff_util::FreeFlyerNodelet {
 public:
  DdsRosBridge();
  ~DdsRosBridge();
 
  bool BuildAccessControlStateToRapid(const std::string& sub_topic,
                                      const std::string& name);
  bool BuildAckToRapid(const std::string& sub_topic,
                       const std::string& name);
  bool BuildAgentStateToRapid(const std::string& sub_topic,
                              const std::string& name);
  bool BuildArmJointSampleToRapid(const std::string& sub_topic,
                                  const std::string& name);
  bool BuildArmStateToRapid(const std::string& sub_topic,
                            const std::string& name);
  bool BuildBatteryStateToRapid(const std::string& sub_topic_battery_state_TL,
                                const std::string& sub_topic_battery_state_TR,
                                const std::string& sub_topic_battery_state_BL,
                                const std::string& sub_topic_battery_state_BR,
                                const std::string& sub_topic_battery_temp_TL,
                                const std::string& sub_topic_battery_temp_TR,
                                const std::string& sub_topic_battery_temp_BL,
                                const std::string& sub_topic_battery_temp_BR,
                                const std::string& name);
  bool BuildCommandToRapid(const std::string& sub_topic,
                           const std::string& ac_sub_topic,
                           const std::string& failed_cmd_sub_topic,
                           const std::string& name);
  bool BuildCompressedFileToRapid(const std::string& sub_topic,
                                  const std::string& name);
  bool BuildCompressedFileAckToRapid(const std::string& sub_topic,
                                     const std::string& name);
  bool BuildCompressedImageToImage(const std::string& sub_topic,
                                   const std::string& name);
  bool BuildCpuStateToRapid(const std::string& sub_topic,
                            const std::string& name);
  bool BuildDataToDiskStateToRapid(const std::string& state_sub_topic,
                                   const std::string& topics_sub_topic,
                                   const std::string& name);
  bool BuildDiskStateToRapid(const std::string& sub_topic,
                             const std::string& name);
  bool BuildFaultConfigToRapid(const std::string& sub_topic,
                               const std::string& name);
  bool BuildFaultStateToRapid(const std::string& sub_topic,
                              const std::string& name);
  bool BuildGncFamCmdStateToRapid(const std::string& sub_topic,
                                  const std::string& name);
  bool BuildGncControlStateToRapid(const std::string& sub_topic,
                                   const std::string& name);
  bool BuildGuestScienceToRapid(const std::string& state_sub_topic,
                                const std::string& config_sub_topic,
                                const std::string& data_sub_topic,
                                const std::string& name);
  bool BuildInertiaDataToRapid(const std::string& sub_topic,
                               const std::string& name);
  bool BuildLogSampleToRapid(const std::string& sub_topic,
                             const std::string& name);
  bool BuildOdomToPosition(const std::string& sub_topic,
                           const std::string& name);
  bool BuildPayloadStateToPayloadState(const std::string& sub_topic,
                                       const std::string& name);
  bool BuildPlanStatusToPlanStatus(const std::string& sub_topic,
                                   const std::string& name);
  bool BuildPmcCmdStateToRapid(const std::string& sub_topic,
                               const std::string& name);
  bool BuildPoseToPosition(const std::string& sub_topic,
                           const std::string& name);
  bool BuildStringToTextMessage(const std::string& name);
  bool BuildTelemetryToRapid(const std::string& sub_topic,
                             const std::string& name);
  bool BuildZonesToRapidCompressedFile(const std::string& sub_topic,
                                       const std::string& zones_srv,
                                       const std::string& name);
 
  bool BuildCommandToCommand(const std::string& pub_topic,
                             const std::string& name);
  bool BuildCompressedFileToCompressedFile(const std::string& pub_topic,
                                           const std::string& name);
 
 
  bool BuildCommandConfigToCommandConfig(const std::string& name);
 
  bool SetTelem(float rate, std::string &err_msg, RateType type);
 
  bool SetCommStatusRate(float rate, std::string &err_msg);
  bool SetCpuStateRate(float rate, std::string &err_msg);
  bool SetDiskStateRate(float rate, std::string &err_msg);
  bool SetEkfPositionRate(float rate, std::string &err_msg, RateType type);
  bool SetGncStateRate(float rate, std::string &err_msg);
  bool SetPmcStateRate(float rate, std::string &err_msg);
  bool SetSparseMappingPoseRate(float rate, std::string &err_msg);
 
  bool SetTelemRateCallback(ff_msgs::SetRate::Request &req,
                            ff_msgs::SetRate::Response &res);
 
 protected:
  virtual void Initialize(ros::NodeHandle *nh);
  bool ReadTopicInfo(const std::string& topic_abbr,
                    const std::string& sub_or_pub,
                    std::string& sub_topic,
                    bool& use);
  bool ReadParams();
  bool ReadRateParams();
 
 private:
  config_reader::ConfigReader config_params_;
 
  int components_;
 
  ros::NodeHandle nh_;
 
  ros::Publisher robot_name_pub_;
  ros::ServiceServer srv_set_telem_rate_;
 
  std::map<std::string, ff::RosSubRapidPubPtr> ros_sub_rapid_pubs_;
  std::shared_ptr<kn::DdsEntitiesFactorySvc> dds_entities_factory_;
  std::string agent_name_, participant_name_;
  std::vector<ff::RapidPubPtr> rapid_pubs_;
  std::vector<ff::RapidSubRosPubPtr> rapid_sub_ros_pubs_;
};
 
}  // end namespace dds_ros_bridge
 
#endif  // DDS_ROS_BRIDGE_DDS_ROS_BRIDGE_H_