walk_and_kick.h

// Walk and kick: Main walk and kick class
// Author: Philipp Allgeuer <pallgeuer@ais.uni-bonn.de>
 
// Ensure header is only included once
#ifndef WALK_AND_KICK_H
#define WALK_AND_KICK_H

// Includes
#include <walk_and_kick/wak_common.h>
#include <walk_and_kick/wak_config.h>
#include <walk_and_kick/wak_sensor_vars.h>
#include <walk_and_kick/wak_ros_interface.h>
#include <walk_and_kick/wak_game_manager.h>
#include <walk_and_kick/wak_beh_manager.h>
#include <walk_and_kick/wak_utils.h>
#include <walk_and_kick/TeamCommsData.h>
#include <walk_and_kick/VisualiseDBH.h>
#include <std_srvs/Empty.h>

// TODO: Get WAK working with Gazebo

namespace walk_and_kick
{
    class WalkAndKick
    {
    public:
        // Constructor
        WalkAndKick();

        // Reset functions
        void reset();
        void resetAll();

        // Initialisation function
        bool init();

        // Step function
        void step();

        // Publish functions
        bool publishLEDPending() { return (m_lastBlinkLED != shouldBlinkLED()); }
        void publishLED() { m_lastBlinkLED = shouldBlinkLED(); RI.updateRGBLED(m_lastBlinkLED); }
        void publishNeutral() { RI.writeNeutral(); }
        void publishState();
        void publishTeamComms(const ros::Time& now);

        // Service handlers
        bool handleVisualiseClear(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& resp);
        bool handleVisualiseDBH(walk_and_kick::VisualiseDBHRequest& req, walk_and_kick::VisualiseDBHResponse& resp);
        bool handleVisualiseDbApp(walk_and_kick::VisualiseDbAppRequest& req, walk_and_kick::VisualiseDbAppResponse& resp);
        bool handleVisualiseGcvXY(std_srvs::EmptyRequest& req, std_srvs::EmptyResponse& resp);

        // Config parameters
        WAKConfig config;

    private:
        // ROS interface
        WAKRosInterface RI;

        // Sensor variables
        SensorVars SV;

        // Finite state machine managers
        WAKGameManager GM;
        WAKBehManager BM;

        // Field dimensions
        const FieldDimensions field;

        // Cycle number
        cycle_t m_wakCycle;

        // Team communications
        TeamCommsData m_teamPacket;
        int m_teamPacketCount;

        // LED blinking
        bool shouldBlinkLED() const { return SV.listenToGC; }
        bool m_lastBlinkLED;
    };
}

#endif
// EOF