mvsim-service-caller-example.cpp

Go to the documentation of this file.

#include <mrpt/core/exceptions.h>
#include <mvsim/Comms/Client.h>

#include <iostream>

// mvsim_msgs:
#include <mvsim/mvsim-msgs/GenericAnswer.pb.h>
#include <mvsim/mvsim-msgs/SrvSetPose.pb.h>
#include <mvsim/mvsim-msgs/SrvSetPoseTwist.pb.h>

int main(int argc, char** argv)
{
        try
        {
                mvsim::Client client;
                client.connect();

                for (int i = 0; i < 20; i++)
                {
                        // Request:
                        mvsim_msgs::SrvSetPose req;

                        req.set_objectid("r1");
                        req.mutable_pose()->set_x(i * 0.50);
                        req.mutable_pose()->set_y(0.0);
                        req.mutable_pose()->set_z(0.0);
                        req.mutable_pose()->set_yaw(0.0);
                        req.mutable_pose()->set_pitch(0.0);
                        req.mutable_pose()->set_roll(0.0);

                        mvsim_msgs::GenericAnswer ans;
                        client.callService("set_pose", req, ans);

                        std::cout << "called service. Input:\n"
                                          << req.DebugString() << "Response:\n"
                                          << ans.DebugString() << std::endl;

                        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
                }

                return 0;
        }
        catch (const std::exception& e)
        {
                std::cerr << mrpt::exception_to_str(e);
                return 1;
        }
}