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Fix class structure and virtual function

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This commit is contained in:
Nicolas Hiillos
2022-12-20 08:59:08 +02:00
parent 3b56bac43e
commit d843c422ef
2 changed files with 15 additions and 38 deletions
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2
src/drawing_controller/drawing_controller/drawing_controller.py
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@@ -59,7 +59,7 @@ class DrawingController(Node):
self.timer = self.create_timer(timer_period, self.timer_callback) self.timer = self.create_timer(timer_period, self.timer_callback)
self.i = 0 self.i = 0
self.cli = self.create_client(ExecuteMotion, 'dummy_execute_path') self.cli = self.create_client(ExecuteMotion, 'execute_path')
while not self.cli.wait_for_service(timeout_sec=1.0): while not self.cli.wait_for_service(timeout_sec=1.0):
self.get_logger().info('service not available, waiting again...') self.get_logger().info('service not available, waiting again...')
self.req = ExecuteMotion.Request() self.req = ExecuteMotion.Request()

51
src/robot_controller/src/cpp/robot_controller.cpp
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@@ -5,57 +5,35 @@
class RobotController : public rclcpp::Node class RobotController : public rclcpp::Node
{ {
public: public:
/// Constructor RobotController(std::string name) : Node(name)
RobotController(std::string name)
: Node(name)
{ {
//this->service = this->create_service<robot_interfaces::srv::ExecuteMotion>(name+"_execute_path", &this->executePath); this->service = this->create_service<robot_interfaces::srv::ExecuteMotion>("execute_path", std::bind(&RobotController::executePath, this, std::placeholders::_1, std::placeholders::_2));
this->service = this->create_service<robot_interfaces::srv::ExecuteMotion>(name+"_execute_path", std::bind(&RobotController::executePath, this, std::placeholders::_1, std::placeholders::_2));
// Subscribe to target pose
//target_pose_sub_ = this->create_subscription<geometry_msgs::msg::PoseStamped>("/target_pose", rclcpp::QoS(1), std::bind(&MoveItFollowTarget::target_pose_callback, this, std::placeholders::_1));
//RCLCPP_INFO(this->get_logger(), "Initialization successful.");
//std::shared_ptr<rclcpp::Node> node = rclcpp::Node::make_shared("add_two_ints_server");
//rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr service = node->create_service<example_interfaces::srv::AddTwoInts>("add_two_ints", &add);
//RCLCPP_INFO(rclcpp::get_logger("rclcpp"), "Ready to add two ints.");
//rclcpp::spin(node);
//rclcpp::shutdown();
} }
//int (RobotController::*executePath)(const std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Request> request, std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Response> response); /// Callback that executes path on robot
void executePath(const std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Request> request, std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Response> response) const virtual void executePath(const std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Request> request, std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Response> response)
{ {
//request->motion->path PoseStamped[] //request->motion->path PoseStamped[]
//request->motion->acceleration float64 //request->motion->acceleration float64
//request->motion->velocity float64 //request->motion->velocity float64
RCLCPP_INFO(this->get_logger(), "NEW MOTION: Acceleration: "); RCLCPP_INFO(this->get_logger(), "NEW MOTION: Acceleration: ");
//RCLCPP_INFO(this->get_logger(), "Acceleration: " + std::to_string(request.motion.acceleration)); //RCLCPP_INFO(this->get_logger(), "Acceleration: " + std::to_string(request.motion.acceleration));
response->status = "executePath not implemented"; response->status = "executePath not implemented";
RCLCPP_WARN(this->get_logger(), "executePath not implemented"); RCLCPP_WARN(this->get_logger(), "executePath not implemented");
} }
private: private:
/// Callback that executes path on robot
rclcpp::Service<robot_interfaces::srv::ExecuteMotion>::SharedPtr service; rclcpp::Service<robot_interfaces::srv::ExecuteMotion>::SharedPtr service;
}; };
// A controller for a Dummy robot. Only logs messages and serves as an example for real implementation. // A controller for a Dummy robot. Only logs messages and serves as an example for real implementation.
// CRTP pattern used here https://en.wikipedia.org/wiki/Curiously_recurring_template_pattern
//class DummyController : public RobotController<DummyController>
class DummyController : public RobotController class DummyController : public RobotController
{ {
public: public:
DummyController(std::string name) : RobotController(name) {} DummyController(std::string name) : RobotController(name) {}
void executePath(const std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Request> request, std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Response> response) const virtual void executePath(const std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Request> request, std::shared_ptr<robot_interfaces::srv::ExecuteMotion::Response> response)
{ {
//request->motion->path PoseStamped[] //request->motion->path PoseStamped[]
//request->motion->acceleration float64 //request->motion->acceleration float64
@@ -68,7 +46,6 @@ class DummyController : public RobotController
}; };
//RobotController::RobotController(name) : Node(name)
int main(int argc, char ** argv) int main(int argc, char ** argv)
{ {