bool srvCallback_ElmoRecorderConfig(cob_srvs::ElmoRecorderConfig::Request &req,
cob_srvs::ElmoRecorderConfig::Response &res ){
if(m_bisInitialized) {
m_CanCtrlPltf->evalCanBuffer();
res.success = m_CanCtrlPltf->ElmoRecordings(0, req.recordinggap, "");
res.message = "Successfully configured all motors for instant record";
}
return true;
}
bool srvCallback_ElmoRecorderReadout(cob_srvs::ElmoRecorderReadout::Request &req,
cob_srvs::ElmoRecorderReadout::Response &res ){
if(m_bisInitialized) {
m_CanCtrlPltf->evalCanBuffer();
res.success = m_CanCtrlPltf->ElmoRecordings(1, req.subindex, req.fileprefix);
if(res.success == 0) res.message = "Successfully requested reading out of Recorded data";
else if(res.success == 1) res.message = "Recorder hasn't been configured well yet";
else if(res.success == 2) res.message = "A previous transmission is still in progress";
}
return true;
}
bool srvCallback_ElmoRecorderConfig(cob_base_drive_chain::ElmoRecorderConfig::Request &req,
cob_base_drive_chain::ElmoRecorderConfig::Response &res ){
if(m_bisInitialized)
{
#ifdef __SIM__
res.success = true;
#else
m_CanCtrlPltf->evalCanBuffer();
res.success = m_CanCtrlPltf->ElmoRecordings(0, req.recordinggap, "");
#endif
res.message = "Successfully configured all motors for instant record";
}
return true;
}
bool srvCallback_ElmoRecorderReadout(cob_base_drive_chain::ElmoRecorderReadout::Request &req,
cob_base_drive_chain::ElmoRecorderReadout::Response &res ){
if(m_bisInitialized) {
#ifdef __SIM__
res.success = true;
#else
m_CanCtrlPltf->evalCanBuffer();
res.success = m_CanCtrlPltf->ElmoRecordings(1, req.subindex, req.fileprefix);
#endif
if(res.success == 0) {
res.message = "Successfully requested reading out of Recorded data";
m_bReadoutElmo = true;
ROS_WARN("CPU consuming evalCanBuffer used for ElmoReadout activated");
} else if(res.success == 1) res.message = "Recorder hasn't been configured well yet";
else if(res.success == 2) res.message = "A previous transmission is still in progress";
}
return true;
}
