microcontroller/src/interface.cpp at main · openvmp/microcontroller · GitHub

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* OpenVMP, 2023

* Author: Roman Kuzmenko

* Created: 2023-03-26

* Licensed under Apache License, Version 2.0.

#include "remote_microcontroller/interface.hpp"

#include "remote_actuator/factory.hpp"

#include "remote_serial/factory.hpp"

namespace remote_microcontroller {

Interface::Interface(rclcpp::Node *node) : node_{node} {

callback_group_ =

node->create_callback_group(rclcpp::CallbackGroupType::Reentrant);

node->declare_parameter("microcontroller_prefix",

"/microcontroller/" + std::string(node_->get_name()));

node->get_parameter("microcontroller_prefix", interface_prefix_);

auto prefix = get_prefix_();

}

std::string Interface::get_prefix_() {

std::string prefix = std::string(node_->get_namespace());

if (prefix.length() > 0 && prefix[prefix.length() - 1] == '/') {

prefix = prefix.substr(0, prefix.length() - 1);

}

prefix += interface_prefix_.as_string();

return prefix;

}

} // namespace remote_microcontroller

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