PandaControlServer.cpp

//============================================================================
/// \file    PandaControllerServer.cpp
/// \authors Florian Bauer <florian.bauer.dev@gmail.com>
/// \date    2021-01-26
/// \brief   PandaController server
/// \note    Code generated by sila2codegenerator 0.3.3-dev
//============================================================================

#include <iostream>
#include <ros/ros.h>
#include <sila_cpp/common/FeatureID.h>
#include <sila_cpp/common/ServerAddress.h>
#include <sila_cpp/common/ServerInformation.h>
#include <sila_cpp/common/logging.h>
#include <sila_cpp/server/SiLAServer.h>
#include <QCommandLineParser>
#include <QCoreApplication>
#include "Config.h"
#include "SiteManager/SiteManagerImpl.h"
#include "PlateTypeManager/PlateTypeManagerImpl.h"
#include "RobotController/RobotControllerImpl.h"

using namespace sila2::de::fau::robot::sitemanager::v1;
using namespace sila2::de::fau::robot::platetypemanager::v1;
using namespace sila2::de::fau::robot::robotcontroller::v1;

/**
 * Prints some information about the current build.
 */
static void printBuildInfo() {
    std::cout << EXECUTABLE_NAME << "\n"
            << "Version: "
            << VERSION_MAJOR << "."
            << VERSION_MINOR << "."
            << VERSION_PATCH << "-"
            << GIT_COMMIT_SHORT << "\n"
            << "Build Type: " << BUILD_TYPE << "\n"
            << "Build Timestamp: " << BUILD_TIMESTAMP << "\n"
            << "Compiler: " << COMPILER_ID << " " << COMPILER_VERSION << "\n";
}

/**
 * @brief A SiLA 2 service to control a Panda robot arm from Franka Emika.
 */
class PandaControllerServer : public SiLA2::CSiLAServer {
public:
    /**
     * @brief C'tor
     */
    PandaControllerServer(
            const SiLA2::CServerInformation& ServerInfo,
            const SiLA2::CServerAddress& Address)
    : SiLA2::CSiLAServer{ServerInfo, Address}
    {
        qDebug() << "Registering features...";
        registerFeature(plateTypeManagerPtr.get(), SiLA2::CFeatureID{PlateTypeManager::service_full_name()},
        CPlateTypeManagerImpl::featureDefinition());
        registerFeature(siteManagerPtr.get(), SiLA2::CFeatureID{SiteManager::service_full_name()},
        CSiteManagerImpl::featureDefinition());
        registerFeature(robotControllePtr.get(), SiLA2::CFeatureID{RobotController::service_full_name()},
        CRobotControllerImpl::featureDefinition());
    }

private:
       const std::shared_ptr<CPlateTypeManagerImpl> plateTypeManagerPtr{new CPlateTypeManagerImpl
        {this}};
    const std::shared_ptr<CSiteManagerImpl> siteManagerPtr{new CSiteManagerImpl
        {this, plateTypeManagerPtr}};
    const std::shared_ptr<CRobotControllerImpl> robotControllePtr{new CRobotControllerImpl
        {this, siteManagerPtr}};
};

/**
 * @brief Looking for command line arguments
 *
 * @return pair<CServerInformation, CServerAddress> A pair with the server
 * information (name, type, ...) and the server's address (IP and port)
 */
std::pair<SiLA2::CServerInformation, const SiLA2::CServerAddress> parseCommandLine() {
    auto Parser = PandaControllerServer::commandLineParser();
    Parser->setApplicationDescription("A SiLA2 service: PandaController");
    Parser->addOptions({
        {
            {"s", "server-name"},
            "The name of the SiLA server",
            "name",
            "Panda Controller"
        },
        {
            {"t", "server-type"},
            "The type of the SiLA server",
            "type",
            "PandaRobotController"
        },
        {
            {"d", "description"},
            "The description of the SiLA server",
            "description text",
            "A SiLA 2 service to control a Panda robot arm from Franka Emika."
        },
        {
            {"p", "server-port"},
            "The port on which the SiLA server should run",
            "port",
            "50054"
        }
    });

    Parser->process(QCoreApplication::arguments());

    return {
        {Parser->value("server-name"), Parser->value("server-type"),
            Parser->value("description"), QCoreApplication::applicationVersion()},
        {"[::]", Parser->value("server-port")}};
}

int main(int argc, char* argv[]) {
    printBuildInfo();

    QCoreApplication App{argc, argv};
    QCoreApplication::setApplicationName("PandaControllerServer");
    QCoreApplication::setApplicationVersion("0.0.1");

    int rosArgc = 0;
    ros::init(rosArgc, nullptr, "panda_controller");
    ros::NodeHandle nh;
    ros::AsyncSpinner spinner(1);
    spinner.start();

    const auto [ServerInfo, ServerAddress] = parseCommandLine();
    auto SiLAServer = PandaControllerServer{ServerInfo, ServerAddress};
    SiLAServer.run();

    return 0;
}