robot_status_relay_handler.cpp
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00001 /*
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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.drives_powered.val = TriStates::toROSMsgEnum(in.status_.getDrivesPowered());
00072   status.e_stopped.val = TriStates::toROSMsgEnum(in.status_.getEStopped());
00073   status.error_code = in.status_.getErrorCode();
00074   status.in_error.val = TriStates::toROSMsgEnum(in.status_.getInError());
00075   status.in_motion.val = TriStates::toROSMsgEnum(in.status_.getInMotion());
00076   status.mode.val = RobotModes::toROSMsgEnum(in.status_.getMode());
00077   status.motion_possible.val = TriStates::toROSMsgEnum(in.status_.getMotionPossible());
00078   
00079   this->pub_robot_status_.publish(status);
00080 
00081   // Reply back to the controller if the sender requested it.
00082   if (CommTypes::SERVICE_REQUEST == in.getMessageType())
00083   {
00084     SimpleMessage reply;
00085     in.toReply(reply, rtn ? ReplyTypes::SUCCESS : ReplyTypes::FAILURE);
00086     this->getConnection()->sendMsg(reply);
00087   }
00088 
00089   return rtn;
00090 }
00091 
00092 }
00093 }
00094 


industrial_robot_client
Author(s): Jeremy Zoss
autogenerated on Mon Oct 6 2014 00:55:19