Ejemplo n.º 1
0
 bool get(std::string key, XmlRpc::XmlRpcValue& val)
 {
     try
     {
         bool v;
         if (get(key,v)){
             XmlRpc::XmlRpcValue vb(v);
             val = vb;
             return (val.valid());
         }
         double vd;
         if (get(key,vd)){
             val = vd;
             return (val.valid());
         }
         int vi;
         if (get(key,vi)){
             val=vi;
             return (val.valid());
         }
         std::string vs;
         if (get(key, vs)){
             val=vs.c_str();
             return (val.valid());
         }
     }
     catch (...)
     {
         return false;
     }
     return false;
 }
Ejemplo n.º 2
0
void startWorkingCallback::execute (XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result)
{
    // if no arguments were received
    if (!params.valid())
    {
        result = ctrl_xmlrpc->startProcessing();
    }
    else
    {
        switch(params.size())
        {
        // start the server in online mode with port and blocksize
        case 2:
            ctrl_xmlrpc->startEegServer((int) params[0], (int) params[1]);
            result = 0;
            break;
        case 3:
            ctrl_xmlrpc->startEegServer((std::string) params[0], (int) params[1], (int) params[2]);
            result = 0;
            break;
        default:
            OMG("WARNING! Server got wrong number of arguments!");
            break;
        }
    }
    fflush(stdout);
}
Ejemplo n.º 3
0
void applySetupCallback::execute (XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result)
{

    if(params.valid()) {

        if(params.size() != 1) {
            result = -1;
            return;
        }

        XmlRpc::XmlRpcValue p = params[0];
        if(p.size() % 2 != 0) {
            result = -1;
            fflush(stdout);
            return;
        }

        for(int i=0; i<p.size(); i+= 2) {
            if(0 > ctrl_xmlrpc->addModule(p[i], p[i+1])) {
                result = i+1;
                fflush(stdout);
                return;
            }
        }
    }
    result = 0;
    fflush(stdout);

    return;
}
Ejemplo n.º 4
0
void loadMonocularNodelets(nodelet::Loader& manager, const std::string& side,
                           const XmlRpc::XmlRpcValue& rectify_params,
                           const nodelet::V_string& my_argv)
{
    nodelet::M_string remappings;

    // Explicitly resolve global remappings (wg-ros-pkg #5055).
    // Otherwise the internal remapping 'image_raw' -> 'left/image_raw' can hide a
    // global remapping from the launch file or command line.
    std::string image_raw_topic        = ros::names::resolve(side + "/image_raw");
    std::string image_mono_topic       = ros::names::resolve(side + "/image_mono");
    std::string image_color_topic      = ros::names::resolve(side + "/image_color");
    std::string image_rect_topic       = ros::names::resolve(side + "/image_rect");
    std::string image_rect_color_topic = ros::names::resolve(side + "/image_rect_color");
    std::string camera_info_topic      = ros::names::resolve(side + "/camera_info");

    // Debayer nodelet: image_raw -> image_mono, image_color
    remappings["image_raw"]   = image_raw_topic;
    remappings["image_mono"]  = image_mono_topic;
    remappings["image_color"] = image_color_topic;
    std::string debayer_name = ros::this_node::getName() + "_debayer_" + side;
    manager.load(debayer_name, "image_proc/debayer", remappings, my_argv);

    // Rectify nodelet: image_mono -> image_rect
    remappings.clear();
    remappings["image_mono"]  = image_mono_topic;
    remappings["camera_info"] = camera_info_topic;
    remappings["image_rect"]  = image_rect_topic;
    std::string rectify_mono_name = ros::this_node::getName() + "_rectify_mono_" + side;
    if (rectify_params.valid())
        ros::param::set(rectify_mono_name, rectify_params);
    manager.load(rectify_mono_name, "image_proc/rectify", remappings, my_argv);

    // Rectify nodelet: image_color -> image_rect_color
    remappings.clear();
    remappings["image_mono"]  = image_color_topic;
    remappings["camera_info"] = camera_info_topic;
    remappings["image_rect"]  = image_rect_color_topic;
    std::string rectify_color_name = ros::this_node::getName() + "_rectify_color_" + side;
    if (rectify_params.valid())
        ros::param::set(rectify_color_name, rectify_params);
    manager.load(rectify_color_name, "image_proc/rectify", remappings, my_argv);
}
Ejemplo n.º 5
0
void addModuleCallback::execute (XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result)
{
    result = 0;
    if (params.valid())
    {
        result = ctrl_xmlrpc->addModule((std::string) params[0], (std::string) params[1]);
    } else {
        FYI("Error reading XMLRPC Message..");
    }
    fflush(stdout);
}
Ejemplo n.º 6
0
void getUsageCallback::execute (XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result)
{

    if(!params.valid()) {
        FYI("Invalid Params from XMLRPC");
        result = -1;
        return;
    }

    Module* temp = ModuleFactory::createInstance((std::string)params[0]);
    if(temp == NULL) {
        FYI("Could not create Object of %s", ((std::string)params[0]).c_str());
        result = -1;
        return;
    }

    result.setSize(4);

    // the usage string
    result[0] = temp->usage();

    // input type
    result[1] = temp->inputType();

    // output type
    result[2] = temp->outputType();

    // input, output, or flow node?
    if(!temp->isInput() && !temp->isOutput()) {
        result[3] = std::string("flow");
    } else if(temp->isInput()) {
        result[3] = std::string("input");
    } else {
        result[3] = std::string("output");
    }
    delete temp;

    fflush(stdout);

    return;

}
Ejemplo n.º 7
0
void startLoopbackCallback::execute (XmlRpc::XmlRpcValue& params, XmlRpc::XmlRpcValue& result)
{
    // if no arguments were received
    if (!params.valid())
    {
        ctrl_xmlrpc->startProcessing();
    }
    else
    {
        switch(params.size())
        {
        case 3:
            FYI("params[0]: %d\n\tparams[1]: %s\n\tparams[2]: %d\n\t", (int)params[0], ((std::string)params[1]).c_str(), (int)params[2]);
            ctrl_xmlrpc->startLoopback((int)params[0], (std::string) params[1], (int) params[2]);
            break;
        default:
            WTF("WARNING! Server got wrong number of arguments!");
            break;
        }
    }

    fflush(stdout);
    result = 0;
}