rfnserver_imp.h

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namespace rfnserver {

  RFNServer::RFNServer(ros::NodeHandle nh, std::string callback_topic, FSFCallback fsf_callback) :
  actionlib::SimpleActionServer<roboframenet_msgs::FilledSemanticFrameAction>(nh, callback_topic, boost::bind(&RFNServer::executeCB, this, _1), false),
    nh_(nh),
    callback_topic_(callback_topic),
    fsf_callback_(fsf_callback) {}

  void RFNServer::executeCB(const roboframenet_msgs::FilledSemanticFrameGoalConstPtr &goal) {
    fsf_callback_(goal->frame);
  }

  bool RFNServer::add_frame(std::string filepath) {
    // Get the absolute filepath.
    boost::filesystem::path path(filepath);
    boost::filesystem::path abs_path(boost::filesystem::system_complete(path));
    //ROS_INFO("abs_path is %s", abs_path.string());
    // Call the adding service.
    ros::ServiceClient client = nh_.serviceClient<roboframenet_msgs::AddFrame>("add_frame");
    client.waitForExistence();
    roboframenet_msgs::AddFrame srv;
    srv.request.absolute_file_path = abs_path.string();
    bool is_success = client.call(srv);
    if(is_success) {
      is_success = srv.response.success; // Check that addition was successful
    }
    else {
      ROS_ERROR("Service call failed!");
    }
    return is_success;
  }


  bool RFNServer::add_lexical_unit(std::string filepath) {
    // Get the absolute filepath.
    boost::filesystem::path path(filepath);
    boost::filesystem::path abs_path(boost::filesystem::system_complete(path));
    // Call the adding service.
    ros::ServiceClient client = nh_.serviceClient<roboframenet_msgs::AddLexicalUnit>("add_lexical_unit");
    client.waitForExistence();
    roboframenet_msgs::AddLexicalUnit srv;
    srv.request.absolute_file_path = abs_path.string();
    bool is_success = client.call(srv);
    if(is_success) {
      is_success = srv.response.success; // Check that addition was successful
    }
    else {
      ROS_ERROR("Service call failed!");
    }
    return is_success;
  }

  bool RFNServer::register_with_frame(std::string frame_name) {
    // Call the registration service.
    ros::ServiceClient client = nh_.serviceClient<roboframenet_msgs::RegisterWithFrame>("register_with_frame");
    client.waitForExistence();
    roboframenet_msgs::RegisterWithFrame srv;
    srv.request.frame_name = frame_name;
    srv.request.callback_topic = callback_topic_;
    bool is_success = client.call(srv);
    if(is_success) {
      is_success = srv.response.success; // Check that addition was successful
    }
    else {
      ROS_ERROR("Service call failed!");
    }
    return is_success;
  }

  std::string RFNServer::frame_argument(roboframenet_msgs::FilledSemanticFrame frame, std::string parameter_name) {
    // Find the argument of the given parameter.
    int num_elements = frame.frame_elements.size();
    for(int i=0; i<num_elements; i++) {
      if(!parameter_name.compare(frame.frame_elements[i].name)) {
        return frame.frame_elements[i].argument;
      }
    }
    // No luck.
    return "";
  }


};