test_exec.cpp

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*  Author: Dula Nad
*  Created: 01.02.2013.
*********************************************************************/
#include <ros/ros.h>
#include <navcon_msgs/RegisterController.h>

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

  ros::ServiceClient client = nh.serviceClient<navcon_msgs::RegisterController>("register_controller");
  navcon_msgs::RegisterController srv;

  //Add manual
  std::string manuals[]={"manualX","manualY","manualZ","manualN"};
  //Add surge, sway, heave, yaw_rate controllers.
  std::string basics[]={"surge","sway","heave","yaw_rate"};
  int basics_dofs[]={0,1,2,5};

  for (int i=0; i<4; ++i)
  {
          srv.request.used_dofs.assign(0);
          srv.request.name = basics[i];
          srv.request.used_dofs[basics_dofs[i]] = 1;
          client.call(srv);

          srv.request.used_dofs.assign(0);
          srv.request.name = manuals[i];
          srv.request.used_dofs[basics_dofs[i]] = 1;
          client.call(srv);
  }

  //Add identifications: surge, sway, heave, yaw
  srv.request.name = "identX";
  srv.request.used_dofs.assign(1);
  //Let heading DOF be free ?
  srv.request.used_dofs[5] = 0;
  client.call(srv);

  srv.request.name = "identY";
  srv.request.used_dofs.assign(1);
  //Let heading DOF be free ?
  srv.request.used_dofs[5] = 0;
  client.call(srv);

  srv.request.name = "identZ";
  srv.request.used_dofs.assign(1);
  client.call(srv);

  srv.request.name = "identN";
  srv.request.used_dofs.assign(1);
  client.call(srv);

  srv.request.used_dofs.assign(0);
  //Add complex controllers: dp, hdg, depth, dp+depth, dp+hdg
  srv.request.name = "dp";
  srv.request.used_cnt.resize(2);
  srv.request.used_cnt[0] = "surge";
  srv.request.used_cnt[1] = "sway";
  client.call(srv);

  srv.request.name = "hdg";
  srv.request.used_cnt.resize(1);
  srv.request.used_cnt[0] = "yaw_rate";
  client.call(srv);

  srv.request.name = "depth";
  srv.request.used_cnt.resize(1);
  srv.request.used_cnt[0] = "heave";
  client.call(srv);

  srv.request.name = "dpDepth";
  srv.request.used_cnt.resize(3);
  srv.request.used_cnt[0] = "surge";
  srv.request.used_cnt[1] = "sway";
  srv.request.used_cnt[2] = "depth";
  client.call(srv);

  srv.request.name = "dpHdg";
  srv.request.used_cnt.resize(3);
  srv.request.used_cnt[0] = "surge";
  srv.request.used_cnt[1] = "sway";
  srv.request.used_cnt[2] = "hdg";
  client.call(srv);

  srv.request.name = "dpHdgDepth";
  srv.request.used_cnt.resize(4);
  srv.request.used_cnt[0] = "surge";
  srv.request.used_cnt[1] = "sway";
  srv.request.used_cnt[2] = "hdg";
  srv.request.used_cnt[3] = "depth";
  client.call(srv);

  //exit
  return 0;
}