~shadowrobot/sr-ros-interface-ethercat/electric

#include <ros/ros.h>

 

#include <string>

#include <sstream>

 

#include "cyberglove/serial_glove.h"

#include "cyberglove/cyberglove_publisher.h"

#include "cyberglove/cyberglove_service.h"

 

using namespace ros;

 

namespace cyberglove_service{

 

CybergloveService::CybergloveService(cyberglove_publisher::CyberglovePublisher *publish)

 :  node("~"), pub(publish)

{

 

  service = node.advertiseService("start",&CybergloveService::start,this);

  service = node.advertiseService("calibration", &CybergloveService::calibration, this);

  ROS_INFO("Listening for service");

}

 

bool CybergloveService::start(cyberglove::Start::Request &req, cyberglove::Start::Response &res){

    ROS_INFO("Start");

    this->pub->cyberglove_pub.shutdown();

    return true;

}

bool CybergloveService::calibration(cyberglove::Calibration::Request &req, cyberglove::Calibration::Response &res){

    this->pub->isPublishing = false;

    this->pub->initialize_calibration(req.path);

    this->pub->isPublishing = true; 

    return true;

}

}