public bool enabled (CommandHandle handle)
{
if ( handle == null || !handle.connected () )
return false;
string resource = handle.getName ();
return enabled_.ContainsKey ( resource );
}
public bool start (CommandHandle handle)
{
if ( handle == null || !handle.connected () )
return false;
string resource = handle.getName ();
if ( enabled_.ContainsKey ( resource ) )
{
if ( enabled_ [ resource ] == handle )
return true;
} else
{
enabled_.Add ( resource, handle );
ROS.Info ( "quadrotor_interface", "Enabled %s output", resource );
return true;
}
return false;
}