Prepared the ROS part of the ORCA bridge.

.gitignore

@@ -3,3 +3,11 @@ Makefile
 build/
 msg_gen/
 src/ros_extctrl
+CMakeCache.txt
+CMakeFiles/
+catkin/
+catkin_generated/
+cmake_install.cmake
+devel/
+gtest/
+srv_gen/

CMakeLists.txt

@@ -17,9 +17,9 @@ set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin)
 set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib)
 
 #uncomment if you have defined messages
-rosbuild_genmsg()
+# rosbuild_genmsg()
 #uncomment if you have defined services
-#rosbuild_gensrv()
+rosbuild_gensrv()
 
 #common commands for building c++ executables and libraries
 #rosbuild_add_library(${PROJECT_NAME} src/example.cpp)

extctrl_bridge_config.xml

-<bridge name="extctrl_bridge" port="7357">
-
-  <!-- TODO: What controller do we have time to integrate with? -->
-  <!--       We will probably add a custom conversion here...   -->
-
-  <topics_in>
-    <topic name="/extctrl_status" />
-  </topics_in>
-
-  <topics_out>
-    <topic name="/extctrl_cmd" />
-  </topics_out>
-</bridge>

msg/ExtCtrlStatus.msg

-uint32 status

src/example.py

 #!/usr/bin/env python
 
-# The bridge generator cannot make an external service look lika a
-# ROS service, only the opposite. That would seem a better fit here
-# though...
 
 import roslib; roslib.load_manifest('ros_extctrl')
 import rospy
-from ros_extctrl.msg import ExtCtrlCmd, ExtCtrlStatus
+from ros_extctrl.srv import ExtCtrlStart
+from geometry_msgs.msg import PoseStamped
 
-
-def handle_extctrl_status(data):
-    print("Controller responded with %d" % data.status)
-
-
-def interact(pub):
+def interact():
     while not rospy.is_shutdown():
+        rospy.wait_for_service('ExtCtrlStart')
+        start_controller = rospy.ServiceProxy('ExtCtrlStart', ExtCtrlStart)
         line = ''
         try:
             line = raw_input("Choose a controller to activate:")
         except EOFError:
             print('\nBye')
             break
-        ctrl = 0
+        aua_id = 0
         try:
-            ctrl = int(line)
+            aua_id = int(line)
         except ValueError:
             print("%s is not a number" % line)
             continue
-        msg = ExtCtrlCmd()
-        msg.aua_id = ctrl
-        msg.pose.pose.position.x = 0.0
-        msg.pose.pose.position.y = 0.0
-        msg.pose.pose.position.z = 0.0
-        msg.pose.pose.orientation.x = 0.0
-        msg.pose.pose.orientation.y = 0.0
-        msg.pose.pose.orientation.z = 0.0
-        msg.pose.pose.orientation.w = 0.0
-        pub.publish(msg)
+        pose = PoseStamped()
+        pose.pose.position.x = 0.0
+        pose.pose.position.y = 0.0
+        pose.pose.position.z = 0.0
+        pose.pose.orientation.x = 0.0
+        pose.pose.orientation.y = 0.0
+        pose.pose.orientation.z = 0.0
+        pose.pose.orientation.w = 0.0
+        resp = None
+        try:
+            resp = start_controller(aua_id, pose)
+        except rospy.ServiceException as exc:
+            print("Service did not process request: " + str(exc))
+            continue
+        print("%s" % resp)
 
 
 if __name__ == '__main__':
-    rospy.init_node('extctrl_example')
-    pub = rospy.Publisher('extctrl_cmd', ExtCtrlCmd)
-    sub = rospy.Subscriber('extctrl_status', ExtCtrlStatus,
-                           handle_extctrl_status)
-    interact(pub)
+    rospy.init_node('extctrl_usage_example')
+    interact()

src/orca_bridge.py

+#!/usr/bin/env python
+
+import roslib; roslib.load_manifest('ros_extctrl')
+import rospy
+from optparse import OptionParser
+import sys
+from ros_extctrl.srv import ExtCtrlStart
+
+
+class OrcaBridge(object):
+    def __init__(self, address, port):
+        # ORCA setup
+        # TODO: Talk to Mahdi about the simulik signals to use.
+        #self._orca_conn = orca.connection(address, port)
+        #self._orca_enc_start = self.orca_conn.open_input(['some_sample'])
+
+        # ROS setup
+        # Wrapper to use member funcion as service callback.
+        def cb(req, insn=self):
+            return insn._orca_start(req)
+        self.start_srv = rospy.Service('ExtCtrlStart',
+                                       ExtCtrlStart, cb)
+
+    def _orca_start(self, req):
+        # TODO: Init. labcomm type and send to simulink.
+        # self._orca_enc_start.encode(lc_data, lc_type)
+        print(req)
+        return req.aua_id
+
+    def run(self):
+        rospy.spin()
+
+
+if __name__ == '__main__':
+    op = OptionParser()
+    op.add_option("-a", "--address", dest="address",
+                  help="IP address of ORCA server")
+    op.add_option("-p", "--port", dest="port",
+                  help="TCP port of ORCA server")
+    (opts, args) = op.parse_args()
+    if opts.address is None or opts.port is None:
+        sys.stderr.write("Use '--help' for usage.\n")
+        sys.exit(1)
+
+    rospy.init_node('orca_bridge')
+    b = OrcaBridge(opts.address, opts.port)
+    b.run()

msg/ExtCtrlCmd.msg → srv/ExtCtrlStart.srv

 uint32 aua_id                   # Controller ID (0 to deactivate)
 geometry_msgs/PoseStamped pose
+---
+uint32 status