Navigation2DClient.h

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/*
 * Copyright (C) 2006-2020 Istituto Italiano di Tecnologia (IIT)
 *
 * This library is free software; you can redistribute it and/or
 * modify it under the terms of the GNU Lesser General Public
 * License as published by the Free Software Foundation; either
 * version 2.1 of the License, or (at your option) any later version.
 *
 * This library 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
 * Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public
 * License along with this library; if not, write to the Free Software
 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301  USA
 */
 
#ifndef YARP_DEV_NAVIGATION2DCLIENT_H
#define YARP_DEV_NAVIGATION2DCLIENT_H
 
#include <yarp/os/Network.h>
#include <yarp/dev/ControlBoardInterfaces.h>
#include <yarp/dev/ControlBoardHelpers.h>
#include <yarp/sig/Vector.h>
#include <yarp/os/Time.h>
#include <yarp/dev/PolyDriver.h>
#include <yarp/dev/INavigation2D.h>
 
#include <mutex>
#include <string>
 
#define DEFAULT_THREAD_PERIOD 20 //ms
 
 
class Navigation2DClient:
        public yarp::dev::DeviceDriver,
        public yarp::dev::Nav2D::INavigation2D,
        public yarp::os::PortReader
{
protected:
    std::mutex               m_mutex;
    yarp::os::Port                m_rpc_port_navigation_server;
    yarp::os::Port                m_rpc_port_map_locations_server;
    yarp::os::Port                m_rpc_port_localization_server;
    yarp::os::Port                m_rpc_port_user_commands;
    std::string                   m_local_name;
    std::string                   m_navigation_server_name;
    std::string                   m_map_locations_server_name;
    std::string                   m_localization_server_name;
    int                           m_period;
 
private:
    std::string                   m_current_goal_name;
    bool                          reset_current_goal_name();
    bool                          set_current_goal_name(const std::string& name);
    bool                          get_current_goal_name(std::string& name);
 
private: //math stuff
    double                        normalize_angle(double angle);
    bool                          locations_are_similar(yarp::dev::Nav2D::Map2DLocation loc1,
                                                        yarp::dev::Nav2D::Map2DLocation loc2,
                                                        double lin_tol,
                                                        double ang_tol);
 
 
public:
 
    /* DeviceDriver methods */
    bool open(yarp::os::Searchable& config) override;
    bool close() override;
 
    /* RPC responder */
    bool parse_respond_string(const yarp::os::Bottle& command, yarp::os::Bottle& reply);
    virtual bool read(yarp::os::ConnectionReader& connection) override;
 
    /* The following methods belong to INavigation2D interface */
    virtual bool checkInsideArea(yarp::dev::Nav2D::Map2DArea area) override;
    virtual bool checkInsideArea(std::string area_name)  override;
    virtual bool checkNearToLocation(yarp::dev::Nav2D::Map2DLocation loc, double linear_tolerance, double angular_tolerance = std::numeric_limits<double>::infinity()) override;
    virtual bool checkNearToLocation(std::string location_name, double linear_tolerance, double angular_tolerance = std::numeric_limits<double>::infinity()) override;
 
    bool   gotoTargetByAbsoluteLocation(yarp::dev::Nav2D::Map2DLocation loc) override;
    bool   gotoTargetByLocationName(std::string location_name) override;
    bool   gotoTargetByRelativeLocation(double x, double y, double theta) override;
    bool   gotoTargetByRelativeLocation(double x, double y) override;
    bool   applyVelocityCommand(double x_vel, double y_vel, double theta_vel, double timeout = 0.1) override;
    bool   recomputeCurrentNavigationPath() override;
 
    bool   getAbsoluteLocationOfCurrentTarget(yarp::dev::Nav2D::Map2DLocation& loc) override;
    bool   getNameOfCurrentTarget(std::string& location_name) override;
    bool   getRelativeLocationOfCurrentTarget(double& x, double& y, double& theta) override;
 
    bool   getCurrentPosition(yarp::dev::Nav2D::Map2DLocation &loc) override;
    bool   getEstimatedOdometry(yarp::dev::OdometryData& odom) override;
    bool   setInitialPose(const yarp::dev::Nav2D::Map2DLocation& loc) override;
    bool   getLocalizationStatus(yarp::dev::Nav2D::LocalizationStatusEnum& status) override;
    bool   getEstimatedPoses(std::vector<yarp::dev::Nav2D::Map2DLocation>& poses) override;
    bool   setInitialPose(const yarp::dev::Nav2D::Map2DLocation& loc, const yarp::sig::Matrix& cov) override;
    bool   getCurrentPosition(yarp::dev::Nav2D::Map2DLocation& loc, yarp::sig::Matrix& cov) override;
    bool   startLocalizationService() override;
    bool   stopLocalizationService() override;
 
    bool   storeCurrentPosition(std::string location_name) override;
    bool   storeLocation(std::string location_name, yarp::dev::Nav2D::Map2DLocation loc) override;
    bool   getLocation(std::string location_name, yarp::dev::Nav2D::Map2DLocation& loc) override;
    bool   getArea(std::string area_name, yarp::dev::Nav2D::Map2DArea& area) override;
    bool   deleteLocation(std::string location_name) override;
    bool   getLocationsList(std::vector<std::string>& locations) override;
 
    bool   getNavigationStatus(yarp::dev::Nav2D::NavigationStatusEnum& status) override;
    bool   clearAllLocations() override;
    bool   stopNavigation() override;
    bool   suspendNavigation(const double time_s) override;
    bool   resumeNavigation() override;
    bool   getAllNavigationWaypoints(yarp::dev::Nav2D::TrajectoryTypeEnum trajectory_type, yarp::dev::Nav2D::Map2DPath& waypoints) override;
    bool   getCurrentNavigationWaypoint(yarp::dev::Nav2D::Map2DLocation& curr_waypoint) override;
    bool   getCurrentNavigationMap(yarp::dev::Nav2D::NavigationMapTypeEnum map_type, yarp::dev::Nav2D::MapGrid2D& map) override;
};
 
#endif // YARP_DEV_NAVIGATION2DCLIENT_H