cyberglove: cyberglove_service.cpp Source File

00001 
00028 #include <ros/ros.h>
00029 
00030 #include <string>
00031 #include <sstream>
00032 
00033 #include "cyberglove/serial_glove.h"
00034 #include "cyberglove/cyberglove_publisher.h"
00035 #include "cyberglove/cyberglove_service.h"
00036 
00037 using namespace ros;
00038 
00039 namespace cyberglove_service{
00040 
00041 CybergloveService::CybergloveService(boost::shared_ptr<cyberglove_publisher::CyberglovePublisher> publish)
00042  :  node("~"), pub(publish)
00043 {
00044   service_start = node.advertiseService("start",&CybergloveService::start,this);
00045   service_calibration = node.advertiseService("calibration", &CybergloveService::calibration, this);
00046   ROS_INFO("Listening for service");
00047 }
00048 
00049 bool CybergloveService::start(cyberglove::Start::Request &req, cyberglove::Start::Response &res){
00050     if(req.start){
00051         ROS_INFO("Glove is now publishing");
00052         this->pub->setPublishing(true);
00053     }
00054     else{
00055         ROS_INFO("Glove has stopped publishing");
00056         this->pub->setPublishing(false);
00057     }
00058     //this->pub->cyberglove_pub.shutdown();
00059     return true;
00060 }
00061 bool CybergloveService::calibration(cyberglove::Calibration::Request &req, cyberglove::Calibration::Response &res){
00062     this->pub->setPublishing(false);
00063     this->pub->initialize_calibration(req.path);
00064     this->pub->setPublishing(true);
00065     return true;
00066 }
00067 }