From 595edc413099240043faa0f7ca0741892f30ecc9 Mon Sep 17 00:00:00 2001
From: Timothy Wiley <timothyw@cse.unsw.edu.au>
Date: Sat, 11 Mar 2017 22:24:57 +1100
Subject: [PATCH] Add ability to send generic command message - not just
 strings

---
 crosbot/include/crosbot/controls/command.hpp | 36 ++++++++++++++++----
 1 file changed, 30 insertions(+), 6 deletions(-)

diff --git a/crosbot/include/crosbot/controls/command.hpp b/crosbot/include/crosbot/controls/command.hpp
index d5aa972..feb4b09 100644
--- a/crosbot/include/crosbot/controls/command.hpp
+++ b/crosbot/include/crosbot/controls/command.hpp
@@ -53,20 +53,30 @@ private:
     };
 
     /**
-     * Send command with the provided args
+     * Send command with the provided message
+     * Over-writes namespace and stamp
      */
     void sendCommand(crosbot_msgs::ControlCommand::_cmd_namespace_type nspace,
-            crosbot_msgs::ControlCommand::_command_type command,
-            const crosbot_msgs::ControlCommand::_args_type& args) {
+            crosbot_msgs::ControlCommand& msg) {
         if (send) {
-            crosbot_msgs::ControlCommand msg;
             msg.header.stamp = ros::Time::now();
             msg.cmd_namespace = nspace;
-            msg.command = command;
-            msg.args = args;
             publisher.publish(msg);
         }
     }
+
+    /**
+     * Send command with the provided args
+     */
+    void sendCommand(crosbot_msgs::ControlCommand::_cmd_namespace_type nspace,
+            crosbot_msgs::ControlCommand::_command_type command,
+            const crosbot_msgs::ControlCommand::_args_type& args) {
+        crosbot_msgs::ControlCommand msg;
+        msg.header.stamp = ros::Time::now();
+        msg.cmd_namespace = nspace;
+        msg.command = command;
+        msg.args = args;
+    }
 public:
 
     /**
@@ -120,6 +130,13 @@ public:
      */
     bool canReceive() { return receive; };
 
+    /**
+     * Send command with the provided message
+     */
+    void sendCommandAll(crosbot_msgs::ControlCommand& msg) {
+        sendCommand("", msg);
+    }
+
     /**
      * Send command with arguments using "all" namespace
      */
@@ -136,6 +153,13 @@ public:
         sendCommandAll(command, args);
     }
 
+    /**
+     * Send command with the provided message
+     */
+    void sendCommandNamespace(crosbot_msgs::ControlCommand& msg) {
+        sendCommand(nspace, msg);
+    }
+
     /**
      * Send command with zero arguments using the configured namespace
      */
-- 
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