ual.h

//----------------------------------------------------------------------------------------------------------------------
// GRVC UAL
//----------------------------------------------------------------------------------------------------------------------
// The MIT License (MIT)
// 
// Copyright (c) 2016 GRVC University of Seville
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated
// documentation files (the "Software"), to deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to
// permit persons to whom the Software is furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in all copies or substantial portions of the
// Software.
// 
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE
// WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS
// OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR
// OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.
//----------------------------------------------------------------------------------------------------------------------
#ifndef UAV_ABSTRACTION_LAYER_UAL_H
#define UAV_ABSTRACTION_LAYER_UAL_H

#include <uav_abstraction_layer/backend.h>
#include <uav_abstraction_layer/GoToWaypoint.h>
#include <uav_abstraction_layer/TakeOff.h>
#include <uav_abstraction_layer/Land.h>
#include <uav_abstraction_layer/SetVelocity.h>
#include <uav_abstraction_layer/State.h>
#include <thread>

namespace grvc { namespace ual {

class UAL {
public:
    UAL(int _argc, char** _argv);
    UAL();
    ~UAL();

    bool     isReady() const { return backend_->isReady(); }

    bool     isIdle() const { return backend_->isIdle(); }

    Pose     pose() const { return backend_->pose(); }

    Velocity velocity() const { return backend_->velocity(); }

    Odometry odometry() const { return backend_->odometry(); }

    Transform transform() const { return backend_->transform(); }

    uav_abstraction_layer::State state();

    bool    setPose(const geometry_msgs::PoseStamped& _pose);

    bool    goToWaypoint(const Waypoint& _wp, bool _blocking = true);

    bool    goToWaypointGeo(const WaypointGeo& _wp, bool _blocking = true);

    bool    takeOff(double _height, bool _blocking = true);

    bool    land(bool _blocking = true);

    bool    setVelocity(const Velocity& _vel);

    bool    recoverFromManual();

    bool    setHome(bool set_z = false);

protected:
    void init();
    Backend* backend_;
    std::thread running_thread_;
    std::thread server_thread_;

    int robot_id_;
    bool id_is_unique_;
};

}}  // namespace grvc::ual

#endif  // UAV_ABSTRACTION_LAYER_UAL_H