iri_bhand_fake_recorder.cpp

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#include "ros/ros.h"
#include <iri_wam_common_msgs/bhand_cmd.h>
#include "iri_fake_recorder.h"
#include <string>

class BhandFakeRecorder : public IRIFakeRecorder<std::string>
{
    private:
        ros::NodeHandle    nh_;
        ros::ServiceServer bhand_cmd_server_;
        std::string        server_uri_;

        bool bhand_cmdCallback(iri_wam_common_msgs::bhand_cmd::Request &req,
                               iri_wam_common_msgs::bhand_cmd::Response &res);

    public:
        BhandFakeRecorder(const std::string server_uri);
};

BhandFakeRecorder::BhandFakeRecorder(const std::string server_uri) :
    server_uri_(server_uri)
{
    bhand_cmd_server_ = nh_.advertiseService(server_uri_, & BhandFakeRecorder::bhand_cmdCallback, this);
}

bool
BhandFakeRecorder::bhand_cmdCallback(iri_wam_common_msgs::bhand_cmd::Request & req,
                                     iri_wam_common_msgs::bhand_cmd::Response &res)
{
    msg_recieved_history_.push_back(req.bhandcmd);

    return true;
}