set_sensors.cpp

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* Author: Gonçalo Cabrita and Pedro Sousa on 28/10/2010
*********************************************************************/
#define NODE_VERSION 0.01

#include <stdlib.h>
#include <stdio.h>
#include "SensorNet.h"

int main(int argc, char** argv)
{
        ros::init(argc, argv, "set_sensors");
        ros::NodeHandle n;

        if(argc!=8)
        {
                ROS_ERROR("Wrong number of arguments. Usage: set_sensors addr s1 s2 s3 s4 w1 w1");
                return -1;
        }

        std::string port;
        n.param<std::string>("sensornet/port", port, "/dev/ttyUSB0");
        
        SensorNet sn(port, 19200);
        SensorNet::Node node;
        node.setAddress(argv[1][0]);
        
        if(!sn.getInfo(&node))
        {
                ROS_ERROR("Could not find node %c. Are you sure you have the right address? Is the node connected?", node.address());
                return -1;
        }
        
        if(!sn.setSensors(&node, atoi(argv[2])==1 ? 1 : 0, atoi(argv[3])==1 ? 1 : 0, atoi(argv[4])==1 ? 1 : 0, atoi(argv[5])==1 ? 1 : 0, atoi(argv[6])==1 ? 1 : 0, atoi(argv[7])==1 ? 1 : 0))
        {
                ROS_ERROR("There was an error while setting the sensors on node %c!", node.address());
        }
        else
        {
                ROS_INFO("Successfuly changed the sensors on node %c!", node.address());
        }
        
        return 0;
}

// EOF