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@@ -179,41 +179,6 @@ int Canbus::Start() {
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ros::ServiceServer SftTxtService = node_handle_->advertiseService(robot::common::SftTxtService,
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&Canbus::SftTxtReq,this);
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-
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- string str = "/home/madesheng/angle.txt";
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- int flag = Canbus::read_txt(str,1);
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- if(flag != ROBOT_SUCCESS)
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- {
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- return ROBOT_FAILTURE;
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- }
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- str = "/home/madesheng/psng.txt";
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- flag = Canbus::read_txt(str,2);
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- if(flag != ROBOT_SUCCESS)
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- {
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- return ROBOT_FAILTURE;
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- }
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-
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- str = "/home/madesheng/acc.txt";
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- flag = Canbus::read_txt(str,3);
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- if(flag != ROBOT_SUCCESS)
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- {
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- return ROBOT_FAILTURE;
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- }
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-
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- str = "/home/madesheng/angleLine.txt";
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- flag = Canbus::read_txt(str,4);
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- if(flag != ROBOT_SUCCESS)
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- {
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- return ROBOT_FAILTURE;
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- }
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-
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- str = "/home/madesheng/sft.txt";
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- flag = Canbus::read_txt(str,5);
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- if(flag != ROBOT_SUCCESS)
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- {
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- return ROBOT_FAILTURE;
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- }
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-
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//data receive
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while(ros::ok())
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{
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@@ -1146,6 +1111,13 @@ bool Canbus::StrTxtReq(canbus::StrTxtReq::Request &req,canbus::StrTxtReq::Respon
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res.uiReturn = 1;
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return true;
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}
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+ string str = "/home/madesheng/angle.txt";
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+ int flag = Canbus::read_txt(str,1);
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+ if(flag != ROBOT_SUCCESS)
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+ {
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+ res.uiReturn = 0;
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+ return false;
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+ }
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if(strTxtTimerState)
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{
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str_txt_timer_.stop();
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@@ -1222,6 +1194,13 @@ bool Canbus::BrkTxtReq(canbus::BrkTxtReq::Request &req,canbus::BrkTxtReq::Respon
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res.uiReturn = 1;
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return true;
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}
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+ string str = "/home/madesheng/psng.txt";
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+ int flag = Canbus::read_txt(str,2);
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+ if(flag != ROBOT_SUCCESS)
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+ {
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+ res.uiReturn = 0;
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+ return false;
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+ }
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if(brkTxtTimerState)
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{
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brk_txt_timer_.stop();
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@@ -1293,6 +1272,13 @@ bool Canbus::AccTxtReq(canbus::AccTxtReq::Request &req,canbus::AccTxtReq::Respon
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res.uiReturn = 1;
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return true;
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}
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+ string str = "/home/madesheng/acc.txt";
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+ int flag = Canbus::read_txt(str,3);
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+ if(flag != ROBOT_SUCCESS)
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+ {
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+ res.uiReturn = 0;
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+ return false;
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+ }
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if(accTxtTimerState)
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{
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acc_txt_timer_.stop();
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@@ -1362,6 +1348,13 @@ bool Canbus::StrTxtLineReq(canbus::StrTxtLineReq::Request &req,canbus::StrTxtLin
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res.uiReturn = 1;
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return true;
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}
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+ string str = "/home/madesheng/angleLine.txt";
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+ int flag = Canbus::read_txt(str,4);
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+ if(flag != ROBOT_SUCCESS)
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+ {
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+ res.uiReturn = 0;
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+ return false;
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+ }
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if(strTxtLineTimerState)
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{
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str_txt_line_timer_.stop();
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@@ -1430,6 +1423,13 @@ bool Canbus::SftTxtReq(canbus::SftTxtReq::Request &req,canbus::SftTxtReq::Respon
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res.uiReturn = 1;
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return true;
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}
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+ string str = "/home/madesheng/sft.txt";
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+ int flag = Canbus::read_txt(str,5);
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+ if(flag != ROBOT_SUCCESS)
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+ {
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+ res.uiReturn = 0;
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+ return false;
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+ }
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if(sftTxtTimerState)
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{
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sft_txt_timer_.stop();
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