khi_robot_client.cpp

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#include <stdio.h>
#include <boost/thread/thread.hpp>
#include <khi_robot_client.h>
#include <khi_robot_krnx_driver.h>

namespace khi_robot_control
{
void KhiCommandService( KhiRobotDriver* driver )
{
    if ( driver == NULL ) return;

    ROS_INFO( "[KhiRobotCommandService] Start" );

    ros::AsyncSpinner spinner(boost::thread::hardware_concurrency()-1);
    ros::NodeHandlePtr node = boost::make_shared<ros::NodeHandle>();
    ros::ServiceServer service = node->advertiseService( "khi_robot_command_service", &KhiRobotDriver::commandHandler, driver );
    spinner.start();
    ros::waitForShutdown();
}

bool KhiRobotClient::open( const std::string& ip, const double& period, KhiRobotData& data, const bool in_simulation )
{
    cont_no = 0;

    /* select driver */
    driver = new KhiRobotKrnxDriver();
    if ( !driver->initialize( cont_no, period, data, in_simulation ) ) { return false; }

    /* open */
    if ( !driver->open( cont_no, ip, data ) ) { return false; }

    startCommandService();

    return true;
}

bool KhiRobotClient::activate( KhiRobotData& data )
{
    if ( driver == NULL ) { return false; }

    return driver->activate( cont_no, data );
}

bool KhiRobotClient::hold( const KhiRobotData& data )
{
    if ( driver == NULL ) { return false; }

    return driver->hold( cont_no, data );
}

void KhiRobotClient::deactivate( const KhiRobotData& data )
{
    if ( driver == NULL ) { return; }

    driver->deactivate( cont_no, data );
}

void KhiRobotClient::close()
{
    if ( driver == NULL ) { return; }

    driver->close( cont_no );
    delete driver;
}

void KhiRobotClient::write( const KhiRobotData& data )
{
    if ( driver == NULL ) { return; }

    driver->writeData( cont_no, data );
}

void KhiRobotClient::read( KhiRobotData& data )
{
    if ( driver == NULL ) { return; }

    driver->readData( cont_no, data );
}

int KhiRobotClient::updateState( const KhiRobotData& data )
{
    if ( driver == NULL ) { return NOT_REGISTERED; }

    return driver->updateState( cont_no, data );
}

int KhiRobotClient::getStateTrigger()
{
    if ( driver == NULL ) { return NONE; }

    return driver->getStateTrigger( cont_no );
}

bool KhiRobotClient::getPeriodDiff( double& diff )
{
    if ( driver == NULL ) { return false; }

    return driver->getPeriodDiff( cont_no, diff );
}

void KhiRobotClient::startCommandService()
{
    if ( driver == NULL ) { return; }

    boost::thread thread_srv( KhiCommandService, driver );
}

} // end of khi_robot_control namespace