robot_state_interface.cpp
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00001 /*
00002  * Software License Agreement (BSD License)
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00004  * Copyright (c) 2011, Southwest Research Institute
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00012  *      * Redistributions in binary form must reproduce the above copyright
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00016  *      of its contributors may be used to endorse or promote products derived
00017  *      from this software without specific prior written permission.
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00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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00031 
00032 #include "fs100/industrial_robot_client/robot_state_interface.h"
00033 #include "industrial_utils/param_utils.h"
00034 
00035 using industrial::smpl_msg_connection::SmplMsgConnection;
00036 using industrial_utils::param::getJointNames;
00037 
00038 namespace industrial_robot_client
00039 {
00040 namespace robot_state_interface
00041 {
00042 
00043 RobotStateInterface::RobotStateInterface()
00044 {
00045   this->connection_ = NULL;
00046   this->add_handler(&default_joint_handler_);
00047   this->add_handler(&default_joint_feedback_handler_);
00048   this->add_handler(&default_robot_status_handler_);
00049 }
00050 
00051 bool RobotStateInterface::init(std::string default_ip, int default_port)
00052 {
00053   std::string ip;
00054   int port;
00055 
00056   // override IP/port with ROS params, if available
00057   ros::param::param<std::string>("robot_ip_address", ip, default_ip);
00058   ros::param::param<int>("~port", port, default_port);
00059 
00060   // check for valid parameter values
00061   if (ip.empty())
00062   {
00063     ROS_ERROR("No valid robot IP address found.  Please set ROS 'robot_ip_address' param");
00064     return false;
00065   }
00066   if (port <= 0)
00067   {
00068     ROS_ERROR("No valid robot IP port found.  Please set ROS '~port' param");
00069     return false;
00070   }
00071 
00072   char* ip_addr = strdup(ip.c_str());  // connection.init() requires "char*", not "const char*"
00073   ROS_INFO("Robot state connecting to IP address: '%s:%d'", ip_addr, port);
00074   default_tcp_connection_.init(ip_addr, port);
00075   free(ip_addr);
00076 
00077   return init(&default_tcp_connection_);
00078 }
00079 
00080 bool RobotStateInterface::init(SmplMsgConnection* connection)
00081 {
00082   std::vector<std::string> joint_names;
00083   if (!getJointNames("controller_joint_names", "robot_description", joint_names))
00084     ROS_WARN("Unable to read 'controller_joint_names' param.  Using standard 6-DOF joint names.");
00085 
00086   return init(connection, joint_names);
00087 }
00088 
00089 bool RobotStateInterface::init(SmplMsgConnection* connection, std::vector<std::string>& joint_names)
00090 {
00091   this->joint_names_ = joint_names;
00092   this->connection_ = connection;
00093   connection_->makeConnect();
00094 
00095   // initialize message-manager
00096   if (!manager_.init(connection_))
00097     return false;
00098 
00099   // initialize default handlers
00100   if (!default_joint_handler_.init(connection_, joint_names_))
00101     return false;
00102   this->add_handler(&default_joint_handler_);
00103 
00104   if (!default_joint_feedback_handler_.init(connection_, joint_names_))
00105     return false;
00106   this->add_handler(&default_joint_feedback_handler_);
00107 
00108   if (!default_robot_status_handler_.init(connection_))
00109       return false;
00110   this->add_handler(&default_robot_status_handler_);
00111 
00112   return true;
00113 }
00114 
00115 void RobotStateInterface::run()
00116 {
00117   manager_.spin();
00118 }
00119 
00120 } // robot_state_interface
00121 } // industrial_robot_client
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fs100
Author(s): Jeremy Zoss (Southwest Research Institute)
autogenerated on Mon May 27 2013 19:43:15