ROSOptionContainer.cpp

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/*
 * ROSOptionContainer.cpp
 *
 *  Created on: Nov 18, 2011
 *      Author: mriedel
 */

#include <telekyb_base/ROS/ROSOptionContainer.hpp>

#include <telekyb_base/Options/OptionContainer.hpp>

namespace TELEKYB_NAMESPACE
{

ROSOptionContainer::ROSOptionContainer(OptionContainer* optionContainer_)
        : optionContainer(optionContainer_)
{

}

ROSOptionContainer::~ROSOptionContainer() {
        // TODO Auto-generated destructor stub
}


// Creates the ROS Service to Get the Parameter with YAML Syntax.
void ROSOptionContainer::createGetService() {
        // This should never happen.
        if (!ROSOptionController::hasInstance()) {
                ROS_ERROR_STREAM("createSetService() called on ROSOptionContainer "
                                << optionContainer->getOptionContainerNamespace() << ", ROSOptionController is not initialized yet.");
                return;
        }
        ros::NodeHandle serviceHandle(ROSOptionController::Instance().getOptionNodeHandle(), optionContainer->getOptionContainerNamespace());
        getService = serviceHandle.advertiseService(OPTION_GETSERVICE_NAME, &ROSOptionContainer::getServiceCallBack, this);
}

// Creates the ROS Service to Set the Parameter with YAML Syntax.
void ROSOptionContainer::createSetService() {
        // This should never happen.
        if (!ROSOptionController::hasInstance()) {
                ROS_ERROR_STREAM("createSetService() called on ROSOptionContainer "
                                << optionContainer->getOptionContainerNamespace() << ", ROSOptionController is not initialized yet.");
                return;
        }
        ros::NodeHandle serviceHandle(ROSOptionController::Instance().getOptionNodeHandle(), optionContainer->getOptionContainerNamespace());
        setService = serviceHandle.advertiseService(OPTION_SETSERVICE_NAME, &ROSOptionContainer::setServiceCallBack, this);
}

void ROSOptionContainer::shutdownGetService() {
        getService.shutdown();
}

void ROSOptionContainer::shutdownSetService() {
        setService.shutdown();
}


bool ROSOptionContainer::getServiceCallBack(
                telekyb_srvs::StringOutput::Request& request,
                telekyb_srvs::StringOutput::Response& response)
{
        //ROS_INFO_STREAM("ROSOptionContainer::getServiceCallBack");
        YAML::Node node;
        optionContainer->get(node);
        return YamlHelper::parseNodeToString(node, response.output);
}

bool ROSOptionContainer::setServiceCallBack(
                telekyb_srvs::StringInput::Request& request,
                telekyb_srvs::StringInput::Response& response)
{
        //ROS_INFO_STREAM("ROSOptionContainer::setServiceCallBack with " << request.input);
        YAML::Node node;
        YamlHelper::parseStringToNode(request.input, node);
        optionContainer->set(node);

        return true;
}

} /* namespace telekyb */