// Message passing routine, used to send and receive a typed message
// Useful for checking the packing and unpacking of message data.
void fakeMessagePassing(TypedMessage &send, TypedMessage &recv)
{
const int tcpPort = TEST_PORT_BASE+401;
char ipAddr[] = "127.0.0.1";
TcpClient tcpClient;
TcpServer tcpServer;
SimpleMessage msgSend, msgRecv;
send.toTopic(msgSend);
// Construct server
tcpServer.init(tcpPort);
// Construct a client
tcpClient.init(&ipAddr[0], tcpPort);
tcpClient.makeConnect(); // make tcp client connection
tcpServer.makeConnect(); // make tcp server connection
tcpClient.sendMsg(msgSend); // send message
tcpServer.receiveMsg(msgRecv); // physically receive message
recv.init(msgRecv); // copy received message into reference
}
int main(int argc, char** argv)
{
char ip[1024] = "192.168.0.50"; // Robot IP address
TcpClient connection;
MessageManager manager;
ros::init(argc, argv, "state_interface");
ros::NodeHandle n;
JointRelayHandler jr_handler(n);
ROS_INFO("Setting up client");
connection.init(ip, StandardSocketPorts::STATE);
connection.makeConnect();
jr_handler.init(&connection);
manager.init(&connection);
manager.add(&jr_handler);
manager.spin();
}