int main(int argc, char** argv)
{
std::string robotName; // = "valkyrie"; // "atlas"
if (argc >= 2)
{
ROS_ERROR("Robot Name: %s", argv[1]);
robotName = argv[1];
}
else
{
ROS_ERROR("Need to have an argument: robot name");
exit(-1);
}
ros::init(argc, argv, "lcm2ros", ros::init_options::NoSigintHandler);
boost::shared_ptr<lcm::LCM> lcm(new lcm::LCM);
if (!lcm->good())
{
std::cerr << "ERROR: lcm is not good()" << std::endl;
}
ros::NodeHandle nh;
LCM2ROS handlerObject(lcm, nh, robotName);
ROS_ERROR("LCM2ROS IHMC Translator Ready [robotName: %s]", robotName.c_str());
while (0 == lcm->handle())
{
}
return 0;
}
void HTTPClientBinding::Receive(const ValueList& args, KValueRef result)
{
args.VerifyException("receive", "m|o ?s|o|0");
// Set output handler
this->outstream = 0;
result->SetBool(false);
if (args.at(0)->IsMethod())
{
this->outputHandler = args.at(0)->ToMethod();
}
else if (args.at(0)->IsObject())
{
KObjectRef handlerObject(args.at(0)->ToObject());
KMethodRef writeMethod(handlerObject->GetMethod("write", 0));
if (writeMethod.isNull())
{
logger->Error("Unsupported object type as output handler:"
" does not have write method");
}
else
{
this->outputHandler = writeMethod;
}
}
else
{
logger->Error("Invalid type as output handler!");
return;
}
// Get the send data if provided
KValueRef sendData(args.GetValue(1));
result->SetBool(this->BeginRequest(sendData));
}
