robot_state.cpp

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/*
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#include "ros/ros.h"
#include "simple_message/socket/simple_socket.h"
#include "simple_message/socket/udp_client.h"
#include "simple_message/socket/tcp_client.h"
#include "dx100/joint_relay_handler.h"
#include "simple_message/message_manager.h"

using namespace industrial::udp_client;
using namespace industrial::tcp_client;
using namespace industrial::message_manager;
using namespace industrial::simple_socket;
using namespace motoman::joint_relay_handler;

int main(int argc, char** argv)
{
  TcpClient connection;
  MessageManager manager;
        
        const unsigned int IP_ARG_IDX = 1;
  ros::init(argc, argv, "state_interface");
  ros::NodeHandle n;

  JointRelayHandler jr_handler(n);

        if(argc != 1)  //Only one argument, the robot IP address is accepted
        {
                ROS_INFO("Robot state connecting to IP address: %s", argv[IP_ARG_IDX]);
                connection.init(argv[IP_ARG_IDX], StandardSocketPorts::STATE);
                connection.makeConnect();

                jr_handler.init(&connection);

                manager.init(&connection);
                manager.add(&jr_handler);
        }
        else
        {
                ROS_ERROR("Missing command line arguments, usage: robot_state <robot ip address>");
        }

  manager.spin();

        return 0;
}