plugs_client.cpp

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/*
 * Copyright (c) 2011, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// author: Mario Prats

#include <pr2_wrappers/plugs_client.h>

namespace pr2_wrappers {

PlugsClient::PlugsClient(ros::NodeHandle &nh, const ros::Duration &timeout) :
  nh_(nh),
  timeout_(timeout),
  plugs_action_client_("recharge", true)
{}

PlugsClient::~PlugsClient(){
}

bool PlugsClient::plug_unplug(bool plug, bool wait)
{
  ROS_INFO_STREAM("Calling plug action");

  pr2_plugs_msgs::RechargeGoal goal;
  goal.command.plug_id = ("local");
  (plug) ?  goal.command.command=goal.command.PLUG_IN : goal.command.command=goal.command.UNPLUG;
  if(wait)
  {
    actionlib::SimpleClientGoalState state = plugs_action_client_.sendGoalAndWait(goal, timeout_, ros::Duration(5.0));
    if(state.state_ != state.SUCCEEDED)
    {
      if(! state.isDone()) ROS_WARN("Plugs action timed out with result %d!", state.state_);
      else ROS_WARN("Plugs action returned with result %d!", state.state_);
      return false;
    }
  }
  else
  {
    plugs_action_client_.sendGoal(goal);
  }
  return true;
}

}