parameter_pa_node.cpp

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/******************************************************************************
*                                                                             *
* parameter_pa_node.cpp                                                       *
* =====================                                                       *
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*******************************************************************************
*                                                                             *
* github repository                                                           *
*   https://github.com/TUC-ProAut/ros_parameter                               *
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* Chair of Automation Technology, Technische Universität Chemnitz             *
*   https://www.tu-chemnitz.de/etit/proaut                                    *
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* New BSD License                                                             *
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// local headers
#include "parameter_pa/parameter_pa_node.h"
#include "parameter_pa/parameter_pa_ros.h"

// standard headers
#include <string>
#include <math.h>

//**************************[main]*********************************************
int main(int argc, char **argv) {

    ros::init(argc, argv, "pcd_filter_pa_node");
    cParameterPaNode pcd_filter;

    ros::spin();

    return 0;
}

//**************************[cParameterPaNode]*********************************
cParameterPaNode::cParameterPaNode() {

    cParameterPaRos paramloader;
    std::string str_service = paramloader.resolveRessourcename("~/");

    // service for path substitution
    ser_path_ = nh_.advertiseService( str_service + "substitutePath",
      &cParameterPaNode::substitutePathCallbackSrv, this);
    // service for ressource name substitution
    ser_ressource_ = nh_.advertiseService(
      str_service + "substituteRessource",
      &cParameterPaNode::substituteNameCallbackSrv, this);
}

//**************************[~cParameterPaNode]********************************
cParameterPaNode::~cParameterPaNode() {

}

//**************************[substitutePathCallbackSrv]*************************
bool cParameterPaNode::substitutePathCallbackSrv(
  parameter_pa::ParameterPaString::Request  &req,
  parameter_pa::ParameterPaString::Response &res) {

    std::string str = req.in_string;
    res.ok = cParameterPaRos::replaceFindpack(str);
    res.out_string = str;

    return true;
}

//**************************[substituteNameCallbackSrv]*************************
bool cParameterPaNode::substituteNameCallbackSrv(
  parameter_pa::ParameterPaString::Request  &req,
  parameter_pa::ParameterPaString::Response &res) {

    res.out_string = cParameterPaRos::resolveRessourcename(req.in_string);
    res.ok = true;
    
    return true;
}