nose.cpp

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* Software License Agreement (BSD License)
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* Author: Gonçalo Cabrita on 15/10/2010
*********************************************************************/
#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, "nose_node");
        
        ros::NodeHandle n;
        ros::NodeHandle pn("~");
        
        std::vector<lse_sensor_msgs::Nostril> nose_msgs;
        
        ros::Publisher nose_pub = n.advertise<lse_sensor_msgs::Nostril>("/nose", 1);
        
        // 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_nose");
        
        double clean_air_2620;
        pn.param("clean_air_2620", clean_air_2620, 0.0);
        double clean_air_2600;
        pn.param("clean_air_2600", clean_air_2600, 0.0);
        
        double min_2620;
        pn.param("min_2620", min_2620, 0.0);
        double max_2620;
        pn.param("max_2620", max_2620, 0.0);
        
        double min_2600;
        pn.param("min_2600", min_2600, 1000.0);
        double max_2600;
        pn.param("max_2600", max_2600, 1000.0);
        
        double a_2620;
        pn.param("a_2620", a_2620, 1.0);
        double b_2620;
        pn.param("b_2620", b_2620, 1.0);
        double a_2600;
        pn.param("a_2600", a_2600, 1.0);
        double b_2600;
        pn.param("b_2600", b_2600, 1.0);

        Ardusim ardusim(port);
        
        int requests[] = {ARDUSIM_NOSE};
        ardusim.setRequests(requests, 1);

        ros::Rate r(10);
        while(ros::ok())
        {
                if(ardusim.getSensorData(100))
                {
                        if(ardusim.getNose(&nose_msgs))
                        {
                                nose_msgs[0].sensor_model = "Figaro 2620";
                                nose_msgs[0].gas_type.push_back(lse_sensor_msgs::Nostril::ORGANIC_SOLVENTS);
                                nose_msgs[0].clean_air = clean_air_2620;
                                nose_msgs[0].reading = exp((nose_msgs[0].raw_data-b_2620)/a_2620);
                                nose_msgs[0].min_reading = min_2620;
                                nose_msgs[0].max_reading = max_2620;
                        
                                nose_msgs[1].sensor_model = "Figaro 2600";
                                nose_msgs[1].gas_type.push_back(lse_sensor_msgs::Nostril::AIR_CONTAMINANTS);
                                nose_msgs[1].clean_air = clean_air_2600;
                                nose_msgs[1].reading = exp((nose_msgs[1].raw_data-b_2600)/a_2600);
                                nose_msgs[1].min_reading = min_2600;
                                nose_msgs[1].max_reading = max_2600;
                        
                                for(int i=0 ; i<nose_msgs.size() ; i++)
                                {
                                        nose_msgs[i].header.frame_id = frame_id;
                                        nose_pub.publish(nose_msgs.at(i));
                                }
                        }
                }
                
                r.sleep();
        }

        return(0);
}

// EOF