int main(int argc, char *argv[]) {
ros::init(argc, argv, "hello_world_node");
ros::NodeHandle n("~");
mcr_robinson::helloworld::IHelloWorld* hello_world =
new mcr_robinson::helloworld::HelloWorldImpl();
// Connect ports from hello world component
EVENT_OUTPUT(hello_world->eventport_output_done).connect(
EVENT_INPUT_ROS("event_out", "e_done"));
DATAPORT_OUTPUT_ROS(std_msgs::String, std::string, "pin_name").connect(
DATAPORT_INPUT(&mcr_robinson::helloworld::IHelloWorld::dataport_input_name, hello_world)
);
DATAPORT_OUTPUT(hello_world->dataport_output_answer).connect(
DATAPORT_INPUT_ROS(std_msgs::String, std::string, "pout_answer"));
ComponentContainer<mcr_robinson::helloworld::IHelloWorld>* container =
new ComponentContainer<mcr_robinson::helloworld::IHelloWorld>(hello_world);
// Connect events to container
EVENT_OUTPUT_ROS("event_in", "e_start").connect(
EVENT_INPUT(&ComponentContainer<mcr_robinson::helloworld::IHelloWorld>::eventport_input_start, container)
);
EVENT_OUTPUT_ROS("event_in", "e_stop").connect(
EVENT_INPUT(&ComponentContainer<mcr_robinson::helloworld::IHelloWorld>::eventport_input_stop, container)
);
//Connect data ports to container
// trigger update event on incomming data
DataPortEvent<std::string>* data_trigger = new DataPortEvent<std::string>(
EVENT_INPUT(&ComponentContainer<mcr_robinson::helloworld::IHelloWorld>::update_on_data,container));
DATAPORT_OUTPUT_ROS(std_msgs::String, std::string, "pin_name").connect(
*data_trigger
);
// choose the operating mode
container->setMode(ON_DATA_EVENT);
//container->setMode(ON_UPDATE_EVENT);
ros::Rate loop_rate(20);
while (ros::ok()) {
// call the update cycle every iteration
container->update_cycle();
ros::spinOnce();
loop_rate.sleep();
}
delete container;
delete hello_world;
delete data_trigger;
return 0;
}
