roscs.cpp

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#include "ros/ros.h"
#include <iostream>
#include <list>
#include <map>
#include "ros/time.h"
#include "ros/duration.h"
#include "ros/console.h"
#include "CsAdvertiseService.h"
<?messageIncludes?>

using namespace std;

list<ros::ServiceClient> client;

extern "C" void rosInit(char* name, int argc, char** argv, uint32_t initOptions) {
        ros::init(argc, argv, name,initOptions);
        /*cout<<"Args: "<<argc<<endl;
        for(int i=0; i< argc; i++) {
                cout << argv[i]<<endl;
        }*/
}
extern "C" void rosShutdown() {
        ros::shutdown();
}
extern "C" bool getRosOk() {
        return ros::ok();
}
extern "C" bool checkMaster() {
        return ros::master::check();
}

extern "C" ros::NodeHandle* getService(char* name) {
        return new ros::NodeHandle(name);
}

extern "C" void destroyService(ros::NodeHandle* node) { 
        if(node!=NULL && node->ok()) {
                node->shutdown();       
                delete node;
        }
}

extern "C"  ros::ServiceClient* serviceClient(ros::NodeHandle* node, char* topic, uint64_t messageId ) {
        ros::ServiceClient tmp;
        
        <?cppServiceClient?>
        
        client.push_back(tmp);
        return &(client.back());
}

<?cppGetSizeOfMessage?>

<?cppArray2RosMethods?>

<?cppServiceHandleMethods?>

extern "C" bool callservice(ros::ServiceClient* service, uint64_t messageId, int* request, char** response) {
        switch(messageId) {
                <?cppCallServiceBody?>
                default:
                        std::cerr << "Unknown message id in sendmsg: "<<messageId<<std::endl;
                        return false;
        }
}

extern "C"  void advertiseService(ros::NodeHandle* node, char* topic, uint64_t messageId, bool (*handle)(char**,char**), void (*handleFree)(char*) ) {
        switch(messageId) {
                <?advertiseService?>
                default: std::cerr<<"Unknown message id: "<< messageId << std::endl;
        }
//      RosCs::CsAdvertiseService<beginner_tutorials::AddTwoInts,beginner_tutorials::AddTwoIntsResponse,beginner_tutorials::AddTwoIntsRequest>(handle,translate,translate2Ros).AdvertiseAndListen(node,topic);
}

extern "C" void freePointer(char* pointer) {
        free(pointer);
}

extern "C" bool isServiceOk(ros::NodeHandle* node) {
        return (node!=NULL && node->ok());
}