log_utils.h

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/*******************************************************************/
/*    AUTHOR: Paal Arthur S. Thorseth                              */
/*    ORGN:   Dept of Eng Cybernetics, NTNU Trondheim              */
/*    FILE:   log_utils.h                                          */
/*    DATE:   Jun 12, 2021                                         */
/*                                                                 */
/* Copyright (C) 2021 Paal Arthur S. Thorseth,                     */
/*                    Adrian B. Ghansah                            */
/*                                                                 */
/* This program is free software: you can redistribute it          */
/* and/or modify it under the terms of the GNU General             */
/* Public License as published by the Free Software Foundation,    */
/* either version 3 of the License, or (at your option) any        */
/* later version.                                                  */
/*                                                                 */
/* This program is distributed in the hope that it will be useful, */
/* but WITHOUT ANY WARRANTY; without even the implied warranty     */
/* of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.         */
/* See the GNU General Public License for more details.            */
/*                                                                 */
/* You should have received a copy of the GNU General Public       */
/* License along with this program. If not, see                    */
/* <https://www.gnu.org/licenses/>.                                */
/*                                                                 */
/*******************************************************************/
 
#pragma once
 
// C++ Standard Library
#include <thread>
 
// ROS
#include "ros/ros.h"
#include "ros/callback_queue.h"
 
// ROS messages
#include "std_msgs/Int8MultiArray.h"
#include "std_msgs/Float64MultiArray.h"
#include "sensor_msgs/JointState.h"
 
// ROS Package Libraries
#include <kinematics/kinematics.h>
 
// Eigen
#include <Eigen/Core>
 
class LogUtils
{
    public: LogUtils();
 
    public: virtual ~LogUtils();
 
    // TODO Describe
    public: void WriteToLog();
 
    public: void OnGenCoordMsg(const std_msgs::Float64MultiArrayConstPtr &_msg);
 
    public: void OnGenVelMsg(const std_msgs::Float64MultiArrayConstPtr &_msg);
 
    public: void OnJointStateMsg(const sensor_msgs::JointStateConstPtr &_msg);
 
    public: void OnJointStateCmdMsg(const sensor_msgs::JointStateConstPtr &_msg);
 
    public: void PublishQueueThread();
 
    public: void ProcessQueueThread();
 
    protected: void InitRos();
 
    protected: void InitRosQueueThreads();
 
    private: Kinematics kinematics;
 
    private: Eigen::Matrix<double, 18, 1> genCoord;
 
    private: Eigen::Matrix<double, 18, 1> genVel;
 
    private: sensor_msgs::JointState jointState;
 
    private: sensor_msgs::JointState jointStateCmd;
 
    private: Eigen::Matrix<Eigen::Vector3d, 4, 1> fPos;
 
    private: int contactState[4];
 
    private: std::unique_ptr<ros::NodeHandle> rosNode;
 
    private: ros::Subscriber genCoordSub;
 
    private: ros::Subscriber genVelSub;
 
    private: ros::Subscriber jointStateSub;
 
    private: ros::Subscriber jointStateCmdSub;
 
    private: ros::Subscriber contactStateSub;
 
    private: ros::Publisher genCoordLogPub;
 
    private: ros::Publisher genVelLogPub;
 
    private: ros::Publisher jointStatePub;
 
    private: ros::Publisher jointStateCmdPub;
 
    private: ros::CallbackQueue rosPublishQueue;
 
    private: ros::CallbackQueue rosProcessQueue;
 
    private: std::thread rosPublishQueueThread;
 
    private: std::thread rosProcessQueueThread;
};