example_armor_tools_1.cpp

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#include "ros/ros.h"
#include "armor_tools/armor_tools.h"
#include "armor_msgs/ArmorDirective.h"
#include "armor_msgs/ArmorDirectiveReq.h"
#include "armor_msgs/ArmorDirectiveRes.h"
 
#include <iostream>
#include <string>
 
int main( int argc, char* argv[] )
{
    ros::init( argc, argv, "example_armor_tools_1" );
    ros::NodeHandle nh;
    
    
    
    
    // STEP 0 === CONSTRUCTOR
    
    // constructor with no arguments: 
    //    set default client name and reference name
    //    debug mode is off 
    // infos are stored for later in the load step
    ArmorTools armor;
    // another way: set your client name and reference
    ArmorTools armor2( "my_client", "my_reference" );
    // only debug mode, with default infos
    ArmorTools armorDBmode( true );
    
    // you can toggle the debug mode in any time using
    armor.SwitchDebugMode( );
    
    
    
    
    // STEP 1 === CONNECTION
    
    // the connection to the server is stored inside the class
    //    using the default timeout
    if( !armor.Connect( ) )
    {
        std::cout << "connection error!" << std::endl;
        return 0;
    }
    // if you want to set another timeout, use this:
    //    armor.Connect( ros::Duration( 36 ) );
    
    
    
    
    // STEP 2 === LOAD ONTOLOGY FROM FILE
    
    // straightforward: use the dedicated function
    // alternatively, you can load manually the ontology; there are several ways
    if( !armor.LoadOntology( "/root/ontology/my_pizza_ontology.owl" ) )
    {
        // something went wrong...
    }
    // see ArmorTools::LoadOntology() for more details
    
    // check the calidity of the interface
    if( !armor.TestInterface( ) )
    {
        // something went wrong...
    }
    
    
    
    
    // STEP 3 === REQUEST & CALLS
    
    // quickest way to call aRMOR
    armor.SendCommand( "ADD", "IND", "CLASS", "Giampiero", "PERSON" );
    
    // manual aRMOR call
    armor_msgs::ArmorDirective srvmsg = armor.GetRequest( "ADD", "IND", "CLASS", "Susanna", "PERSON" );
    armor.CallArmor( srvmsg );
    
    // get the success flag
    //    WARNING: sometimes it doesn't indicate a failure, but a 
    //      common response of the aRMOR service (i.e. testing existence
    //      of an individual which doesn't exist makes the success flag false.)
    if( !armor.Success( ) ) { /* ... */ }
    
    // REMEMBER TO UPDATE after the callings!
    armor.UpdateOntology( );
    
    
    
    
    // STEP 4 === RESPONSE
    
    // check the last request
    armor_msgs::ArmorDirectiveReq& req = armor.GetLastReq( );
    armor_msgs::ArmorDirectiveRes& res = armor.GetLastRes( );
    
    // print one of the sections of the last service message
    armor.PrintLastReq( );
    armor.PrintLastRes( );
    
    // generic prints
    armor.PrintRequest( req );
    armor.PrintResponse( res );
    
    // error checking
    int last_err_code = armor.GetLastErrorCode( ); // 0:success
    std::string error_description = armor.GetLastErrorDescription( ); // "":success ... or strange error
    
    return 0;
}