irtrans_wrapper.cpp

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#include "maggie_ir_drivers/irtrans_wrapper.h"


IrTransWrapper::IrTransWrapper() :
    _irt_server()
{
}


IrTransWrapper::~IrTransWrapper()
{
}


int IrTransWrapper::connect()
{
    int res, error = 0;
    char * host = (char*) "127.0.0.1";

    if ((res = ConnectIRTransServer(host, &_irt_server)) != 0) {
        ROS_ERROR("[IRTRANS_WRAPPER] Error: %i connecting to IR controller server", res);
        error = -1;
    }
    else {
        ROS_DEBUG("[IRTRANS_WRAPPER] Successful connection with IR controller server");
    }

    return error;
}


void IrTransWrapper::disconnect()
{
    DisconnectIRTransServer(_irt_server);
}


int IrTransWrapper::send_remote_command(std::string remote, std::string command)
{
    NETWORKSTATUS *stat;
    int error = 0;

    stat = SendRemoteCommand(_irt_server, &remote[0], &command[0], 0, 0, 0);
    if (stat) {
        ROS_WARN("[IRTRANS_WRAPPER] Warning: sending IR command: '%s'", stat->message);
        error = -1;
    }
    else {
        ROS_DEBUG("[IRTRANS_WRAPPER] IR command sent: '%s'", remote.c_str());
    }

    return error;
}