anemometer.cpp

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* Author: Gonçalo Cabrita on 20/12/2010
*********************************************************************/
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <string.h>

#include "ardusim/Ardusim.h"

using namespace ardusim;

int main(int argc, char** argv)
{
        ros::init(argc, argv, "anemometer_node");
        
        ros::NodeHandle n;
        ros::NodeHandle pn("~");
        
        std::vector<lse_sensor_msgs::Anemometer> msgs;
        
        ros::Publisher pub = n.advertise<lse_sensor_msgs::Anemometer>("/anemometer", 10);
        
        // Read of type c-string/char buffer
        std::string port;
        pn.param<std::string>("port", port, "/dev/ttyUSB1");
        std::string frame_id;
        pn.param<std::string>("frame_id", frame_id, "/base_anemometer");
        std::string file_path;
        pn.param<std::string>("calibration_file_path", file_path, "anemometer.csv");

        Ardusim ardusim(port);
        
        int requests[] = {ARDUSIM_ANEMOMETER};
        ardusim.setRequests(requests, 1);
        
        if(!ardusim.loadAnemometerCalibFile(&file_path))
        {
                ROS_FATAL("Ardusim -- Could not load the anemometer calibration file!");
                ROS_BREAK();
        }

        ros::Rate r(10);
        while(ros::ok())
        {
                if(ardusim.getSensorData(100))
                {
                        if(ardusim.getAnemometer(&msgs))
                        {
                                for(int i=0 ; i<msgs.size() ; i++)
                                {
                                        msgs[i].header.frame_id = frame_id;
                                        msgs[i].min_wind_speed = 0.01;
                                        msgs[i].max_wind_speed = 0.90;
                                        pub.publish(msgs.at(i));
                                }
                        }
                }
                
                r.sleep();
        }

        return(0);
}

// EOF