robot_status_relay_handler.cpp
Go to the documentation of this file.
00001 /*
00002  * Software License Agreement (BSD License)
00003  *
00004  * Copyright (c) 2012, Southwest Research Institute
00005  * All rights reserved.
00006  *
00007  * Redistribution and use in source and binary forms, with or without
00008  * modification, are permitted provided that the following conditions are met:
00009  *
00010  *      * Redistributions of source code must retain the above copyright
00011  *      notice, this list of conditions and the following disclaimer.
00012  *      * Redistributions in binary form must reproduce the above copyright
00013  *      notice, this list of conditions and the following disclaimer in the
00014  *      documentation and/or other materials provided with the distribution.
00015  *      * Neither the name of the Southwest Research Institute, nor the names
00016  *      of its contributors may be used to endorse or promote products derived
00017  *      from this software without specific prior written permission.
00018  *
00019  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00020  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00021  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00022  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00023  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00024  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00025  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00026  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00027  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00028  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00029  * POSSIBILITY OF SUCH DAMAGE.
00030  */
00031 
00032 #include "industrial_robot_client/robot_status_relay_handler.h"
00033 #include "industrial_msgs/RobotStatus.h"
00034 #include "simple_message/log_wrapper.h"
00035 
00036 using namespace industrial::shared_types;
00037 using namespace industrial::smpl_msg_connection;
00038 using namespace industrial::simple_message;
00039 using namespace industrial::robot_status;
00040 using namespace industrial::robot_status_message;
00041 
00042 namespace industrial_robot_client
00043 {
00044 namespace robot_status_relay_handler
00045 {
00046 
00047 bool RobotStatusRelayHandler::init(SmplMsgConnection* connection)
00048 {
00049   this->pub_robot_status_ = this->node_.advertise<industrial_msgs::RobotStatus>("robot_status", 1);
00050   return init((int)StandardMsgTypes::STATUS, connection);
00051 }
00052 
00053 bool RobotStatusRelayHandler::internalCB(SimpleMessage& in)
00054 {
00055   RobotStatusMessage status_msg;
00056 
00057   if (!status_msg.init(in))
00058   {
00059     LOG_ERROR("Failed to initialize status message");
00060     return false;
00061   }
00062 
00063   return internalCB(status_msg);
00064 }
00065 
00066 bool RobotStatusRelayHandler::internalCB(RobotStatusMessage & in)
00067 {
00068   industrial_msgs::RobotStatus status;
00069   bool rtn = true;
00070 
00071   status.header.stamp = ros::Time::now();
00072   status.drives_powered.val = TriStates::toROSMsgEnum(in.status_.getDrivesPowered());
00073   status.e_stopped.val = TriStates::toROSMsgEnum(in.status_.getEStopped());
00074   status.error_code = in.status_.getErrorCode();
00075   status.in_error.val = TriStates::toROSMsgEnum(in.status_.getInError());
00076   status.in_motion.val = TriStates::toROSMsgEnum(in.status_.getInMotion());
00077   status.mode.val = RobotModes::toROSMsgEnum(in.status_.getMode());
00078   status.motion_possible.val = TriStates::toROSMsgEnum(in.status_.getMotionPossible());
00079   
00080   this->pub_robot_status_.publish(status);
00081 
00082   // Reply back to the controller if the sender requested it.
00083   if (CommTypes::SERVICE_REQUEST == in.getMessageType())
00084   {
00085     SimpleMessage reply;
00086     in.toReply(reply, rtn ? ReplyTypes::SUCCESS : ReplyTypes::FAILURE);
00087     this->getConnection()->sendMsg(reply);
00088   }
00089 
00090   return rtn;
00091 }
00092 
00093 }
00094 }
00095 


industrial_robot_client
Author(s): Jeremy Zoss
autogenerated on Sat Jun 8 2019 20:43:29