bcap_service_test.cpp

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#include <ros/ros.h>
#include "bcap_service/bcap.h"

using namespace bcap_service;

int main(int argc, char **argv)
{
  if ((argc < 4) || (argc % 2 != 0))
  {
    ROS_WARN("Usage: bcap_service_test func_id vt value ...");
    return 1;
  }

  ros::init(argc, argv, "bcap_service_test");

  ros::NodeHandle node;
  ros::ServiceClient client = node.serviceClient<bcap>("bcap_service");

  int i;
  bcap packet;

  packet.request.func_id = atoi(argv[1]);

  for(i = 0; i < (argc - 2) / 2; i++) {
    variant vnt;
    vnt.vt    = atoi(argv[2 + 2 * i]);
    vnt.value = argv[3 + 2 * i];
    packet.request.vntArgs.push_back(vnt);
  }

  if (client.call(packet))
  {
    ROS_INFO("HRESULT: %X", packet.response.HRESULT);
    ROS_INFO("vntRet: vt := %d, value := %s", packet.response.vntRet.vt, packet.response.vntRet.value.c_str());
  }
  else
  {
    ROS_ERROR("Failed to call.");
    return 1;
  }

  return 0;

}