MuseV2.cpp

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#include <muse_v2_driver/MuseV2.h>
 
void muse_v2_driver::MuseV2::setupParams(ros::NodeHandle& node) {
 
        if (!node.getParam("frame_id", params.frame_id))
                ROS_WARN("No frame_id parameter found on server. Use default one.");
 
        if (!node.getParam("port_name", params.port_name))
                ROS_WARN("No port_name parameter found on server. Use default one.");
 
        int temp_baudrate;
        if (!node.getParam("baudrate", temp_baudrate))
                ROS_WARN("No baudrate parameter found on server. Use default one.");
        else
                params.baudrate = (uint32_t)temp_baudrate;
 
        int temp_timeout;
        if (!node.getParam("timeout", temp_timeout))
                ROS_WARN("No timeout parameter found on server. Use default one.");
        else
                params.timeout = (Timeout)(temp_timeout);
}
 
bool muse_v2_driver::MuseV2::stopTransmission(StopTransmission::Request& req, StopTransmission::Response& res, MuseV2* muse_v2)
{
        ROS_INFO("request: stop_transmission=%s", req.stop_transmission ? "true" : "false");
 
        if (req.stop_transmission) {
                muse_v2->serial->stopTransmission();
                res.transmission_stopped = true;
        }
 
        return res.transmission_stopped;
}
 
bool muse_v2_driver::MuseV2::shutdown(Shutdown::Request& req, Shutdown::Response& res, MuseV2* muse_v2, std::vector<ros::Subscriber>& sub_vect)
{
        ROS_INFO("request: shutdown=%s", req.shutdown ? "true" : "false");
 
        if (req.shutdown) {
                for (auto& s : sub_vect)
                        s.shutdown();
                muse_v2->serial->shutdown();
                res.off = true;
                ros::shutdown();
        }
 
        return res.off;
}
 
bool muse_v2_driver::MuseV2::disconnect(Disconnect::Request& req, Disconnect::Response& res, MuseV2* muse_v2, std::vector<ros::Subscriber>& sub_vect)
{
        ROS_INFO("request: disconnect=%s", req.disconnect ? "true" : "false");
 
        if (req.disconnect) {
                for (auto& s : sub_vect)
                        s.shutdown();
 
                muse_v2->serial->disconnect();
                res.disconnected = true;
        }
        
        return res.disconnected;
}