ArmorTools - 001 - Essential usage of ArmorTools

In this little example I want to show you which are the main features of the class ArmorTools. It can speed up really the usage of aRMOR, making easier the coding phase.

The proposed workflow is always the same:

1. Constructor, setting the user infos
2. Connection to the service
3. Loading the ontology
4. (optional) check the calidity of the connection

Done this, using armor is simple: just call a function!

Warning

this code was written only for your understanding. Probably it won't compile.

 
 
#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;
}

- 001 - Essential usage of ArmorTools