hand_shaking_demo.h

// Hand shaking demonstration on a standing robot
// Authors: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>

// Ensure header is only included once
#ifndef HAND_SHAKING_DEMO_H
#define HAND_SHAKING_DEMO_H

// Includes
#include <nimbro_op_interface/Button.h>
#include <config_server/parameter.h>
#include <robotcontrol/State.h>
#include <ros/service.h>
#include <ros/time.h>

// Hand shaking demo namespace
namespace hand_shaking_demo
{
    // HandShakingDemo class
    class HandShakingDemo
    {
    public:
        // Constructor/destructor
        HandShakingDemo();

        // Main loop step
        bool step();
        bool halt();

        // Get functions
        inline bool enabled() const { return m_handShakingDemoEnabled(); }

    private:
        // ROS services
        ros::ServiceClient m_srv_playMotion;
        
        // ROS topics
        ros::Subscriber m_sub_button;
        
        // Motions
        void playMotion(const std::string& motionName);
        
        // Button presses
        void handleButton(const nimbro_op_interface::ButtonConstPtr& msg);
        bool m_buttonPressed;

        // Robotcontrol robot state
        ros::Subscriber m_sub_robotState;
        void handleRobotState(const robotcontrol::StateConstPtr& msg);
        std::string m_robotStateName;
        bool m_robotIsStanding;
        bool m_robotIsShaking;

        // Configuration parameters
        config_server::Parameter<bool> m_handShakingDemoEnabled;
        void handleDemoEnabled();

        // Internal variables
        ros::Time m_curStepTime;
    };
}

#endif /* HAND_SHAKING_DEMO_H */
// EOF