ElevatorPluginPrivate.hh

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/*
 * Copyright (C) 2015-2016 Open Source Robotics Foundation
 *
 * 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 _GAZEBO_ELEVATOR_PLUGIN_PRIVATE_HH_
#define _GAZEBO_ELEVATOR_PLUGIN_PRIVATE_HH_

#include <list>
#include <mutex>
#include <string>

#include <sdf/sdf.hh>

#include <gazebo/transport/Node.hh>
#include <gazebo/transport/Subscriber.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/common/PID.hh>
#include <gazebo/common/Timer.hh>

namespace gazebo
{
  class ElevatorPluginPrivate
  {
    public: ElevatorPluginPrivate() = default;

    public: virtual ~ElevatorPluginPrivate();

    public: class DoorController
    {
      public: enum Target {
                OPEN,

                CLOSE
              };

      public: enum State {
                MOVING,

                STATIONARY
              };

      public: DoorController(physics::JointPtr _doorJoint);

      public: virtual ~DoorController() = default;

      public: void SetTarget(
                  ElevatorPluginPrivate::DoorController::Target _target);

      public: ElevatorPluginPrivate::DoorController::State GetState() const;

      public: ElevatorPluginPrivate::DoorController::Target GetTarget() const;

      public: void Reset();

      public: virtual bool Update(const common::UpdateInfo &_info);

      public: physics::JointPtr doorJoint;

      public: State state;

      public: Target target;

      public: common::PID doorPID;

      public: common::Time prevSimTime;
    };

    public: class LiftController
    {
      public: enum State {
                MOVING,

                STATIONARY
              };

      public: LiftController(physics::JointPtr _liftJoint,
                             float _floorHeight);

      public: virtual ~LiftController() = default;

      public: void SetFloor(int _floor);

      public: int GetFloor() const;

      public: ElevatorPluginPrivate::LiftController::State GetState() const;

      public: void Reset();

      public: virtual bool Update(const common::UpdateInfo &_info);

      public: State state;

      public: int floor;

      public: float floorHeight;

      public: physics::JointPtr liftJoint;

      public: common::PID liftPID;

      public: common::Time prevSimTime;
    };

    public: class State
    {
      public: State() : started(false) {}

      public: virtual ~State() = default;

      public: std::string name;

      public: virtual void Start() {}

      public: virtual bool Update() {return true;}

      protected: bool started;
    };

    public: class CloseState : public State
    {
      public: CloseState(ElevatorPluginPrivate::DoorController *_ctrl);

      // Documentation inherited
      public: virtual void Start();

      // Documentation inherited
      public: virtual bool Update();

      public: ElevatorPluginPrivate::DoorController *ctrl;
    };

    public: class OpenState : public State
    {
      public: OpenState(ElevatorPluginPrivate::DoorController *_ctrl);

      // Documentation inherited
      public: virtual void Start();

      // Documentation inherited
      public: virtual bool Update();

      public: ElevatorPluginPrivate::DoorController *ctrl;
    };

    public: class MoveState : public State
    {
      public: MoveState(int _floor, LiftController *_ctrl);

      // Documentation inherited
      public: virtual void Start();

      // Documentation inherited
      public: virtual bool Update();

      public: int floor;

      public: LiftController *ctrl;
    };

    public: class WaitState : public State
    {
      public: WaitState(const common::Time &_waitTime);

      // Documentation inherited
      public: virtual void Start();

      // Documentation inherited
      public: virtual bool Update();

      public: common::Timer waitTimer;
    };

    public: physics::ModelPtr model;

    public: physics::JointPtr liftJoint;

    public: physics::JointPtr doorJoint;

    public: sdf::ElementPtr sdf;

    public: event::ConnectionPtr updateConnection;

    public: transport::NodePtr node;

    public: transport::SubscriberPtr elevatorSub;

    public: DoorController *doorController;

    public: LiftController *liftController;

    public: std::list<State *> states;

    public: std::mutex stateMutex;

    public: common::Time doorWaitTime;
  };
}
#endif