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Added templates and generation for simulated services
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| Original file line number | Diff line number | Diff line change |
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| /* | ||
| * KINOVA (R) KORTEX (TM) | ||
| * | ||
| * Copyright (c) 2019 Kinova inc. All rights reserved. | ||
| * | ||
| * This software may be modified and distributed under the | ||
| * terms of the BSD 3-Clause license. | ||
| * | ||
| * Refer to the LICENSE file for details. | ||
| * | ||
| */ | ||
|
|
||
| /* | ||
| * This file has been auto-generated and should not be modified. | ||
| */ | ||
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| {% for include_file_name in include_file_names -%} | ||
| #include "{{include_file_name}}" | ||
| {% endfor -%} | ||
| #include "{{current_header_filename}}" | ||
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| {{package.short_name}}SimulationServices::{{package.short_name}}SimulationServices(ros::NodeHandle& node_handle): | ||
| I{{package.short_name}}Services(node_handle) | ||
| { | ||
| m_pub_Error = m_node_handle.advertise<kortex_driver::KortexError>("kortex_error", 1000); | ||
| {%- for method in package.methods -%} | ||
| {%- if method.is_notification_rpc %} | ||
| m_pub_{{method.name}} = m_node_handle.advertise<kortex_driver::{{method_prepend_rpc_package_name}}{{method.name|replace("Topic", "")}}Notification>("{{method.name_lowercase_with_underscores}}", 1000); | ||
| m_is_activated_{{method.name}} = false; | ||
| {%- endif -%} | ||
| {%- endfor %} | ||
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| m_serviceSetDeviceID = m_node_handle.advertiseService("{{package.short_name_lowercase_with_underscores}}/set_device_id", &{{package.short_name}}SimulationServices::SetDeviceID, this); | ||
| m_serviceSetApiOptions = m_node_handle.advertiseService("{{package.short_name_lowercase_with_underscores}}/set_api_options", &{{package.short_name}}SimulationServices::SetApiOptions, this); | ||
| {% for method in package.methods %} | ||
| m_service{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}} = m_node_handle.advertiseService("{{package.short_name_lowercase_with_underscores}}/{%- if method.prepend_on_notification -%}activate_publishing_of_{%- endif -%}{{method.name_lowercase_with_underscores}}", &{{package.short_name}}SimulationServices::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}, this); | ||
| {%- endfor %} | ||
| } | ||
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| bool {{package.short_name}}SimulationServices::SetDeviceID(kortex_driver::SetDeviceID::Request &req, kortex_driver::SetDeviceID::Response &res) | ||
| { | ||
| ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect."); | ||
| return true; | ||
| } | ||
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| bool {{package.short_name}}SimulationServices::SetApiOptions(kortex_driver::SetApiOptions::Request &req, kortex_driver::SetApiOptions::Response &res) | ||
| { | ||
| ROS_WARN_ONCE("The SetDeviceID service is not implemented in simulation, and has no effect."); | ||
| return true; | ||
| } | ||
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| {% for method in package.methods %} | ||
| bool {{package.short_name}}SimulationServices::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}(kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Request &req, kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Response &res) | ||
| { | ||
| {% if method.is_rpc_deprecated -%} | ||
| ROS_WARN("The {{package.short_name_lowercase_with_underscores}}/{%- if method.prepend_on_notification -%}activate_publishing_of_{%- endif -%}{{method.name_lowercase_with_underscores}} service is now deprecated and will be removed in a future release."); | ||
| {% endif -%} | ||
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| {%- if method.is_notification_rpc %} | ||
| m_is_activated_{{method.name}} = true; | ||
| {%- endif %} | ||
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| if ({{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}Handler) | ||
| { | ||
| res = {{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}Handler(req); | ||
| } | ||
| else | ||
| { | ||
| ROS_WARN_ONCE("The simulation handler for {{package.short_name_lowercase_with_underscores}}/{%- if method.prepend_on_notification -%}activate_publishing_of_{%- endif -%}{{method.name_lowercase_with_underscores}} is not implemented, so the service calls will return the default response."); | ||
| } | ||
| return true; | ||
| } | ||
| {%- if method.is_notification_rpc %} | ||
| void {{package.short_name}}SimulationServices::cb_{{method.name}}({{method.notification_message_cpp_namespace}}::{{method.name|replace("Topic", "")}}Notification notif) | ||
| { | ||
| kortex_driver::{{method.name|replace("Topic", "")}}Notification ros_msg; | ||
| ToRosData(notif, ros_msg); | ||
| m_pub_{{method.name}}.publish(ros_msg); | ||
| } | ||
| {%- endif %} | ||
| {% endfor -%} |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,41 @@ | ||
| /* | ||
| * KINOVA (R) KORTEX (TM) | ||
| * | ||
| * Copyright (c) 2019 Kinova inc. All rights reserved. | ||
| * | ||
| * This software may be modified and distributed under the | ||
| * terms of the BSD 3-Clause license. | ||
| * | ||
| * Refer to the LICENSE file for details. | ||
| * | ||
| */ | ||
|
|
||
| /* | ||
| * This file has been auto-generated and should not be modified. | ||
| */ | ||
|
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| #ifndef _KORTEX_{{package.short_name|upper}}_SIMULATION_SERVICES_H_ | ||
| #define _KORTEX_{{package.short_name|upper}}_SIMULATION_SERVICES_H_ | ||
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| #include "{{current_interface_header_filename}}" | ||
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| using namespace std; | ||
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| class {{package.short_name}}SimulationServices : public I{{package.short_name}}Services | ||
| { | ||
| public: | ||
| {{package.short_name}}SimulationServices(ros::NodeHandle& node_handle); | ||
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| virtual bool SetDeviceID(kortex_driver::SetDeviceID::Request &req, kortex_driver::SetDeviceID::Response &res) override; | ||
| virtual bool SetApiOptions(kortex_driver::SetApiOptions::Request &req, kortex_driver::SetApiOptions::Response &res) override; | ||
| {%- for method in package.methods %} | ||
| std::function<kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Response&(kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Request&)> {{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}Handler = nullptr; | ||
| virtual bool {{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}(kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Request &req, kortex_driver::{{method.prepend_rpc_package_name}}{{method.prepend_on_notification}}{{method.name}}::Response &res) override; | ||
| {%- if method.is_notification_rpc %} | ||
| virtual void cb_{{method.name}}({{method.notification_message_cpp_namespace}}::{{method.prepend_rpc_package_name}}{{method.name|replace("Topic", "")}}Notification notif) override; | ||
| {%- endif %} | ||
| {%- endfor %} | ||
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| }; | ||
| #endif | ||
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