text: /*********************************************************************
   * Software License Agreement (BSD License)
   *
   *  Copyright (c) 2013, Ioan A. Sucan
   *  Copyright (c) 2016, Robert Haschke
   *  All rights reserved.
   *
   *  Redistribution and use in source and binary forms, with or without
   *  modification, are permitted provided that the following conditions
   *  are met:
   *
   *   * Redistributions of source code must retain the above copyright
   *     notice, this list of conditions and the following disclaimer.
   *   * Redistributions in binary form must reproduce the above
   *     copyright notice, this list of conditions and the following
   *     disclaimer in the documentation and/or other materials provided
   *     with the distribution.
   *   * Neither the names of the authors nor the names of its
   *     contributors may be used to endorse or promote products derived
   *     from this software without specific prior written permission.
   *
   *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
   *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
   *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
   *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
   *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
   *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
   *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
   *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
   *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
   *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
   *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
   *  POSSIBILITY OF SUCH DAMAGE.
   *********************************************************************/
  
  /* Author: Ioan Sucan, Robert Haschke */
  
  #include <moveit/macros/class_forward.h>
  #include <moveit/controller_manager/controller_manager.h>
  #include <ros/publisher.h>
  #include <ros/rate.h>
  #include <boost/thread/thread.hpp>
  
  #ifndef MOVEIT_FAKE_CONTROLLERS
  #define MOVEIT_FAKE_CONTROLLERS
  
  namespace moveit_fake_controller_manager
  {
  MOVEIT_CLASS_FORWARD(BaseFakeController);
  
  // common base class to all fake controllers in this package
  class BaseFakeController : public moveit_controller_manager::MoveItControllerHandle
  {
  public:
    BaseFakeController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
  
    moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override;
    void getJoints(std::vector<std::string>& joints) const;
  
  protected:
    std::vector<std::string> joints_;
    const ros::Publisher& pub_;
  };
  
  class LastPointController : public BaseFakeController
  {
  public:
    LastPointController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
    ~LastPointController() override;
  
    bool sendTrajectory(const moveit_msgs::RobotTrajectory& t) override;
    bool cancelExecution() override;
    bool waitForExecution(const ros::Duration& /*timeout*/) override;
  };
  
  class ThreadedController : public BaseFakeController
  {
  public:
    ThreadedController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
    ~ThreadedController() override;
  
    bool sendTrajectory(const moveit_msgs::RobotTrajectory& t) override;
    bool cancelExecution() override;
    bool waitForExecution(const ros::Duration& /*timeout*/) override;
    moveit_controller_manager::ExecutionStatus getLastExecutionStatus() override;
  
  protected:
    bool cancelled()
    {
      return cancel_;
    }
  
  private:
    virtual void execTrajectory(const moveit_msgs::RobotTrajectory& t) = 0;
    virtual void cancelTrajectory();
  
  private:
    boost::thread thread_;
    bool cancel_;
    moveit_controller_manager::ExecutionStatus status_;
  };
  
  class ViaPointController : public ThreadedController
  {
  public:
    ViaPointController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
    ~ViaPointController() override;
  
  protected:
    void execTrajectory(const moveit_msgs::RobotTrajectory& t) override;
  };
  
  class InterpolatingController : public ThreadedController
  {
  public:
    InterpolatingController(const std::string& name, const std::vector<std::string>& joints, const ros::Publisher& pub);
    ~InterpolatingController() override;
  
  protected:
    void execTrajectory(const moveit_msgs::RobotTrajectory& t) override;
  
  private:
    ros::WallRate rate_;
  };
  }  // namespace moveit_fake_controller_manager
  
  #endif
  