modified service

sylvainar · May 23, 2016 · 2cfbafe · 2cfbafe
1 parent 199ff87
commit 2cfbafe
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Showing 5 changed files with 439 additions and 10 deletions.
diff --git a/CMakeLists.txt b/CMakeLists.txt
@@ -53,7 +53,7 @@ add_message_files(
 ## Generate services in the 'srv' folder
 add_service_files(
   FILES
-  RoutingMachine.srv
+  ParseWpts.srv
 )
 
 ## Generate actions in the 'action' folder
@@ -190,4 +190,4 @@ include_directories(
 
 add_executable(routing_machine src/routing_machine.cpp)
 target_link_libraries(routing_machine ${catkin_LIBRARIES})
-add_dependencies(routing_machine routing_machine_gencpp)
+add_dependencies(routing_machine routing_machine_gencpp)
diff --git a/CMakeLists.txt~ b/CMakeLists.txt~
@@ -0,0 +1,193 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(routing_machine)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  rospy
+  std_msgs
+  message_generation
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+add_message_files(
+  FILES
+  output_coords.msg
+)
+
+## Generate services in the 'srv' folder
+add_service_files(
+  FILES
+  ParseWpts.srv
+)
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+generate_messages(
+  DEPENDENCIES
+  std_msgs
+)
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES routing_machine
+#  CATKIN_DEPENDS roscpp rospy std_msgs
+#  DEPENDS system_lib
+  CATKIN_DEPENDS message_runtime
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(routing_machine
+#   src/${PROJECT_NAME}/routing_machine.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(routing_machine ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+# add_executable(routing_machine_node src/routing_machine_node.cpp)
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(routing_machine_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(routing_machine_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+# install(TARGETS routing_machine routing_machine_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_routing_machine.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+
+#add_executable(routing_machine src/routing_machine.cpp)
+#target_link_libraries(routing_machine ${catkin_LIBRARIES})
+#add_dependencies(routing_machine routing_machine_gencpp)
diff --git a/src/routing_machine.cpp b/src/routing_machine.cpp
@@ -1,5 +1,5 @@
 #include "ros/ros.h"
-#include "routing_machine/RoutingMachine.h"
+#include "routing_machine/ParseWpts.h"
 #include <iostream>
 #include <ctype.h>
 #include <cstring>
@@ -22,26 +22,26 @@ string apiCall(string website, string parameters);
 string isolateShape(string input);
 int decodePolyline(string encoded, std::vector<double> *latitude, std::vector<double> *longitude);
 string formateParameters(double slat, double slng, double elat, double elng);
-bool getRouting(routing_machine::RoutingMachine::Request  &req, routing_machine::RoutingMachine::Response &res);
+bool getRouting(routing_machine::ParseWpts::Request  &req, routing_machine::ParseWpts::Response &res);
 
 // ===> main
 int main(int argc, char **argv)
 {
 	ros::init(argc, argv, "routing_machine");
 	ros::NodeHandle n;
 
-	ros::ServiceServer service = n.advertiseService("routing_machine", getRouting);
+	ros::ServiceServer service = n.advertiseService("routing_machine/get_wpts", getRouting);
 	ROS_INFO("Routing Machine ready !");
 	ros::spin();
 
 	return 0;
 }
 
 // ===> getRouting : principal function
-bool getRouting(routing_machine::RoutingMachine::Request  &req, routing_machine::RoutingMachine::Response &res)
+bool getRouting(routing_machine::ParseWpts::Request  &req, routing_machine::ParseWpts::Response &res)
 {
 	// Only if the client ask for waypoints
-	if(req.get_waypoints == true)
+	if(req.get_wpts == true)
 	{
 		// Variables declaration
 		std::vector<double> latitude;
@@ -233,4 +233,4 @@ string formateParameters(double slat, double slng, double elat, double elng)
 	char output[500];
 	sprintf(output,"/route?json={\"locations\":[{\"lat\":%f,\"lon\":%f},{\"lat\":%f,\"lon\":%f}],\"costing\":\"pedestrian\",\"directions_options\":{\"units\":\"miles\"}}&api_key=valhalla-RsYgicy",slat,slng,elat,elng);
 	return output;
-}
+}