robot_status_relay_handler.cpp

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#include "industrial_robot_client/robot_status_relay_handler.h"
#include "industrial_msgs/RobotStatus.h"
#include "simple_message/log_wrapper.h"

using namespace industrial::shared_types;
using namespace industrial::smpl_msg_connection;
using namespace industrial::simple_message;
using namespace industrial::robot_status;
using namespace industrial::robot_status_message;

namespace industrial_robot_client
{
namespace robot_status_relay_handler
{

bool RobotStatusRelayHandler::init(SmplMsgConnection* connection)
{
  this->pub_robot_status_ = this->node_.advertise<industrial_msgs::RobotStatus>("robot_status", 1);
  return init((int)StandardMsgTypes::STATUS, connection);
}

bool RobotStatusRelayHandler::internalCB(SimpleMessage& in)
{
  RobotStatusMessage status_msg;

  if (!status_msg.init(in))
  {
    LOG_ERROR("Failed to initialize status message");
    return false;
  }

  return internalCB(status_msg);
}

bool RobotStatusRelayHandler::internalCB(RobotStatusMessage & in)
{
  industrial_msgs::RobotStatus status;
  bool rtn = true;

  status.header.stamp = ros::Time::now();
  status.drives_powered.val = TriStates::toROSMsgEnum(in.status_.getDrivesPowered());
  status.e_stopped.val = TriStates::toROSMsgEnum(in.status_.getEStopped());
  status.error_code = in.status_.getErrorCode();
  status.in_error.val = TriStates::toROSMsgEnum(in.status_.getInError());
  status.in_motion.val = TriStates::toROSMsgEnum(in.status_.getInMotion());
  status.mode.val = RobotModes::toROSMsgEnum(in.status_.getMode());
  status.motion_possible.val = TriStates::toROSMsgEnum(in.status_.getMotionPossible());
  
  this->pub_robot_status_.publish(status);

  // Reply back to the controller if the sender requested it.
  if (CommTypes::SERVICE_REQUEST == in.getCommType())
  {
    SimpleMessage reply;
    in.toReply(reply, rtn ? ReplyTypes::SUCCESS : ReplyTypes::FAILURE);
    this->getConnection()->sendMsg(reply);
  }

  return rtn;
}

}
}