fake_sensor_data.cpp

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//\Author Adrian Funk, Bosch LLC

// This node fakes data of the proximity sensor
// This might be useful for debugging reasons with the skin

#include <ros/ros.h>
#include <proximity_sensor_driver/prox_sensor_measurement.h>
#include <proximity_sensor_driver/reinitialize_proximity_sensor.h>
#include <time.h>

// Fake the maximum amount of possible patches
const int INT_FAKED_PATCHES = 192;

// Fake callback for the reinit service
bool reinitialize_callback( proximity_sensor_driver::reinitialize_proximity_sensor::Request &req,
                            proximity_sensor_driver::reinitialize_proximity_sensor::Response &res)
{
  ROS_INFO("Reconfigure callback executed!");
  return(true);
}

int main(int argc, char **argv)
{
        srand(time(NULL));
        ros::init(argc, argv, "fake_skin_data");
        ros::NodeHandle nh;

        ros::Publisher prox_data_pub = nh.advertise<proximity_sensor_driver::prox_sensor_measurement>("prox_sensor_data", 100);
        ros::ServiceServer prox_serv = nh.advertiseService("reinitialize_proximity_sensor", reinitialize_callback);

        // Fake data in an endless loop at 15hz
        ros::Rate loop_rate(15);
        int int_count = 1;
        while(ros::ok())
        {
                // Execute Callback from reconfigure
                ros::spinOnce();
                // Build the message
                proximity_sensor_driver::prox_sensor_measurement prox_data;
                prox_data.header.stamp = ros::Time::now();
                prox_data.header.seq = int_count;
                prox_data.cell_count = INT_FAKED_PATCHES;
                prox_data.is_connected = true;
                prox_data.status_err = false;
                prox_data.status_go = true;

                for(int a = 0; a < INT_FAKED_PATCHES; a++)
                {
                        prox_data.value[a] = rand() % 255;      // Create some random readings
                        prox_data.offset[a] = 120;                      // But keep a constant offset
                        prox_data.limit[a] = 8;
                }

                prox_data_pub.publish(prox_data);

                loop_rate.sleep();
                int_count++;
        }

        return(0);
}