Now we can build a bridge and talk to JGC.

CMakeLists.txt

@@ -17,7 +17,7 @@ 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()
 

build_bridge.sh

+#!/usr/bin/env bash
+
+# jgc_example should be running
+
+rosrun generator generator.py -l python -c ./jgc_bridge_conf.xml -f

jgc_bridge_conf.xml

+<bridge name="jgc_bridge" port="7357">
+  <imports>
+    <topic name="/ec_status" />
+  </imports>
+
+  <exports>
+    <topic name="/ec_start" />
+  </exports>
+
+  <static-connections>
+    <target addr="127.0.0.1:8888">
+      <subscribe name="/ec_start" />
+      <publish name="/ec_status" />
+    </target>
+  </static-connections>
+
+</bridge>

lc/signals.lc

-sample struct {
-        int aua_id;
-        struct {
-                struct {
-                        double x;
-                        double y;
-                        double z;
-                } position;
-                struct {
-                        double x;
-                        double y;
-                        double z;
-                        double w;
-                } orientation;
-        } pose;
-} start;

lc/statemachine.lc

-// inputs to controller block (outputs from JGrafchart)
-sample double Cf[144];
-sample double refs[48];
-sample double quat_refs[16];
-sample double ctrlpar[240];
-sample double chains[120];
-sample double chains_params[120];
-sample double redund_weight[196];
-sample double skillFinished[2];
-sample double state;
-sample double detuning[2];
-
-// outputs from controller block (inputs to JGrafchart)
-sample double y_meas[96];
-sample double quats[16];
-sample double y_d_dot0[12];
-sample double skillToRun[2];
-sample double runExtctrl[2];
-sample double resetProgram[2];
-sample double kinematicsConverged[2];

lc/statemachine_extTrigger.lc

-//// JGrafchart ---> ExtCtrl
-
-// Communication and coordination
-sample double startExtCtrl[2];
-sample double skillFinished[2];
-sample double state;
-
-// Controller parameters
-sample double ctrlpar[240];
-sample double chains[120];
-sample double chains_params[120];
-sample double Cf[144];
-sample double redund_weight[196];
-
-// References
-sample double refs[48];
-sample double quat_refs[16];
-
-// Special features
-sample double detuning[2];
-sample double freeDrive[2];
-
-// Outputs Integrated to ExtCtrl
-sample double ifkDigitalIn[8];
-
-//// Extctrl ---> JGrafchart
-
-// Communication and coordinaiton
-sample double skillToRun[2];	//RAPID issued
-sample double runExtctrl[2];
-sample double resetProgram[2];
-sample double kinematicsConverged[2];
-
-// Measurments
-sample double y_meas[96];
-sample double quats[16];
-sample double y_d_dot0[12];
-
-// Inputs Integrated to ExtCtrl
-sample double ifkAnalogOut[8];
-sample double ifkDigitalOut[8];

manifest.xml

@@ -12,5 +12,6 @@
   <url>http://ros.org/wiki/ros_extctrl</url>
 
   <depend package="geometry_msgs" />
+  <depend package="std_msgs" />
 
 </package>

msg/ExtCtrlStart.msg

+int32 aua_id

msg/ExtCtrlStatus.msg

+int32 status

src/jgc_example.py

+#!/usr/bin/env python
+
+import roslib; roslib.load_manifest('ros_extctrl')
+import rospy
+from ros_extctrl.msg import ExtCtrlStart, ExtCtrlStatus
+
+
+def status_cb(data):
+    print "ExtCtrl responded: %s" % data.status
+
+
+def interact():
+    # These should be a service.
+    pub = rospy.Publisher('ec_start', ExtCtrlStart)
+    sub = rospy.Subscriber('ec_status', ExtCtrlStatus, status_cb)
+    while not rospy.is_shutdown():
+        line = ''
+        try:
+            line = raw_input("Choose a controller to activate:")
+        except EOFError:
+            print('\nBye')
+            break
+        aua_id = 0
+        try:
+            aua_id = int(line)
+        except ValueError:
+            print("%s is not a number" % line)
+            continue
+        v = ExtCtrlStart()
+        v.aua_id = aua_id
+        pub.publish(v)
+
+
+if __name__ == '__main__':
+    rospy.init_node('extctrl_usage_example')
+    interact()