set_address.cpp

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* Author: Gonçalo Cabrita and Pedro Sousa on 28/10/2010
*********************************************************************/
#define NODE_VERSION 0.01

#include <stdlib.h>
#include <stdio.h>
#include "SensorNet.h"

int main(int argc, char** argv)
{
        ros::init(argc, argv, "set_address");
        ros::NodeHandle n;

        if(argc<2)
        {
                ROS_ERROR("Too few arguments. Usage: set_address new_addr old_addr='X'");
                return -1;
        }
        
        char new_address = argv[1][0];
        if(new_address<'A' || new_address>'X')
        {
                ROS_ERROR("The new address must be between A and X");
                return -1;
        }

        char old_address = 'Y';
        if(argc==3)
        {
                old_address = argv[2][0];
                if(old_address<'A' || old_address>'Y')
                {
                        ROS_ERROR("The old address must be between A and Y");
                        return -1;
                }
        }

        std::string port;
        n.param<std::string>("sensornet/port", port, "/dev/ttyUSB0");
        
        SensorNet sn(port, 19200);
        SensorNet::Node node;
        node.setAddress(old_address);
        
        if(!sn.setAddress(&node, new_address))
        {
                ROS_ERROR("There was an error while changing the address of node %c!", old_address);
        }
        else
        {
                ROS_INFO("Successfuly changed the address of node %c to %c!", old_address, new_address);
        }
        
        return 0;
}

// EOF