switch_mux.cpp
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00001 
00002 // The mux package provides a generic multiplexer
00003 //
00004 // Copyright (C) 2008, Morgan Quigley
00005 //
00006 // Redistribution and use in source and binary forms, with or without 
00007 // modification, are permitted provided that the following conditions are met:
00008 //   * Redistributions of source code must retain the above copyright notice, 
00009 //     this list of conditions and the following disclaimer.
00010 //   * Redistributions in binary form must reproduce the above copyright 
00011 //     notice, this list of conditions and the following disclaimer in the 
00012 //     documentation and/or other materials provided with the distribution.
00013 //   * Neither the name of Stanford University nor the names of its 
00014 //     contributors may be used to endorse or promote products derived from 
00015 //     this software without specific prior written permission.
00016 //   
00017 // THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 
00018 // AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 
00019 // IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 
00020 // ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 
00021 // LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 
00022 // CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 
00023 // SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 
00024 // INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 
00025 // CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 
00026 // ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 
00027 // POSSIBILITY OF SUCH DAMAGE.
00029 
00030 
00031 #include <cstdio>
00032 #include "ros/console.h"
00033 #include "ros/ros.h"
00034 #include "topic_tools/MuxSelect.h"
00035 #include "topic_tools/parse.h"
00036 using namespace std;
00037 using namespace ros;
00038 using namespace topic_tools;
00039 
00040 int main(int argc, char **argv)
00041 {
00042   ROS_WARN("topic_tools/switch_mux is deprecated; please use topic_tools/mux_select instead");
00043   if (argc < 3)
00044   {
00045     printf("usage: switch MUXED_TOPIC SELECT_TOPIC\n");
00046     return 1;
00047   }
00048   std::string topic_name;
00049   if(!getBaseName(string(argv[1]), topic_name))
00050     return 1;
00051   ros::init(argc, argv, topic_name + string("_switcher"));
00052   ros::NodeHandle nh;
00053   string srv_name = string(argv[1]) + "_select";
00054   ROS_INFO("Waiting for service %s...\n", srv_name.c_str());
00055   ros::service::waitForService(srv_name, -1);
00056   ros::ServiceClient client = nh.serviceClient<MuxSelect>(srv_name);
00057   MuxSelect cmd;
00058   cmd.request.topic = argv[2];
00059   if (client.call(cmd))
00060   {
00061     ROS_INFO("muxed topic %s successfully switched from %s to %s",
00062              argv[1], cmd.response.prev_topic.c_str(),
00063              cmd.request.topic.c_str());
00064     return 0;
00065   }
00066   else
00067   {
00068     ROS_ERROR("failed to switch muxed topic %s to %s",
00069               argv[1], cmd.request.topic.c_str());
00070     return 1;
00071   }
00072 }
00073 


topic_tools
Author(s): Morgan Quigley, Brian Gerkey
autogenerated on Mon Oct 6 2014 11:47:06