test_exec.cpp

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*  Author: Dula Nad
*  Created: 01.02.2013.
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#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 manualPos[]={"manual_x","manual_y","manual_z","manual_roll", "manual_pitch", "manual_yaw"};
  std::string manualNu[]={"manual_u","manual_v","manual_w","manual_p", "manual_q", "manual_r"};
  std::string manuals[]={"manualX","manualY","manualZ","manualK", "manualM", "manualN"};
  //Add surge, sway, heave, yaw_rate controllers.
  std::string basics[]={"surge","sway","heave","roll_rate","pitch_rate","yaw_rate"};
  std::string ident[]={"identX","identY","identZ","identK","identM","identN"};
  std::string pose_cnt[]={"fadp","fadp","depth","roll","pitch","heading"};
  int basics_dofs[]={0,1,2,3,4,5};

  for (int i=0; i<6; ++i)
  {
        //velocity controllers
          srv.request.used_dofs.assign(0);
          srv.request.name = basics[i];
          srv.request.used_dofs[basics_dofs[i]] = 1;
          client.call(srv);

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

          //nu manual
          navcon_msgs::RegisterController srv2;
          srv2.request.name = manualNu[i];
          srv2.request.used_cnt.push_back(basics[i]);
          client.call(srv2);

          //identification
          navcon_msgs::RegisterController srv3;
          srv3.request.name = ident[i];
          //srv3.request.used_dofs.assign(1);
          srv3.request.used_dofs[2] = 0;
          srv3.request.used_dofs[5] = 0;
          srv3.request.used_dofs[i] = 1;
          client.call(srv3);

          //Pose controllers
          navcon_msgs::RegisterController srv4;
          srv4.request.name = pose_cnt[i];
          srv4.request.used_cnt.push_back(basics[i]);
          if (i == 1) srv4.request.used_cnt.push_back(basics[i-1]);
          if (i != 0) client.call(srv4);

          std::cout<<"finished no:"<<i<<std::endl;
  }

  //Underactuated dp
  srv.request.used_dofs.assign(0);
  srv.request.used_cnt.clear();
  srv.request.name = "uadp";
  srv.request.used_cnt.push_back("surge");
  srv.request.used_cnt.push_back("heading");
  client.call(srv);

  std::cout<<"Added dp."<<std::endl;

  //Virtual target
  srv.request.used_dofs.assign(0);
  srv.request.used_cnt.clear();
  srv.request.name = "vt";
  srv.request.used_cnt.push_back("surge");
  srv.request.used_cnt.push_back("yaw_rate");
  client.call(srv);
  std::cout<<"Added dp."<<std::endl;
  //LF target
  srv.request.used_dofs.assign(0);
  srv.request.used_cnt.clear();
  srv.request.name = "falf";
  srv.request.used_cnt.push_back("surge");
  srv.request.used_cnt.push_back("sway");
  srv.request.used_cnt.push_back("heading");
  client.call(srv);
  //LF underactuated
  srv.request.used_dofs.assign(0);
  srv.request.used_cnt.clear();
  srv.request.name = "ualf";
  srv.request.used_cnt.push_back("surge");
  srv.request.used_cnt.push_back("yaw_rate");
  client.call(srv);

  //exit
  return 0;
}