joint_trajectory_downloader.cpp

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/*
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 * Copyright (c) 2011, Southwest Research Institute
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#include "industrial_robot_client/joint_trajectory_downloader.h"
 
namespace industrial_robot_client
{
namespace joint_trajectory_downloader
{
 
using industrial::simple_message::SimpleMessage;
namespace SpecialSeqValues = industrial::joint_traj_pt::SpecialSeqValues;
 
bool JointTrajectoryDownloader::send_to_robot(const std::vector<JointTrajPtMessage>& messages)
{
  bool rslt=true;
  std::vector<JointTrajPtMessage> points(messages);
  SimpleMessage msg;
 
  // Trajectory download requires at least two points (START/END)
  if (points.size() < 2)
    points.push_back(JointTrajPtMessage(points[0]));
 
  // The first and last points are assigned special sequence values
  points.begin()->setSequence(SpecialSeqValues::START_TRAJECTORY_DOWNLOAD);
  points.back().setSequence(SpecialSeqValues::END_TRAJECTORY);
 
  if (!this->connection_->isConnected())
  {
    ROS_WARN("Attempting robot reconnection");
    this->connection_->makeConnect();
  }
 
  ROS_INFO("Sending trajectory points, size: %d", (int)points.size());
 
  for (int i = 0; i < (int)points.size(); ++i)
  {
    ROS_DEBUG("Sending joints trajectory point[%d]", i);
 
    points[i].toTopic(msg);
    bool ptRslt = this->connection_->sendMsg(msg);
    if (ptRslt)
      ROS_DEBUG("Point[%d] sent to controller", i);
    else
      ROS_WARN("Failed sent joint point, skipping point");
 
    rslt &= ptRslt;
  }
 
  return rslt;
}
 
} //joint_trajectory_downloader
} //industrial_robot_client