sensornet_node.cpp

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* Author: Gonçalo Cabrita and Pedro Sousa on 25/10/2010
*********************************************************************/
#define NODE_VERSION 0.01

#include "SensorNet.h"

int main(int argc, char** argv)
{
        ros::init(argc, argv, "sensornet_node");

        ROS_INFO("SensorNet for ROS %.2f", NODE_VERSION);
        
        ros::NodeHandle n;
        
        std::vector<lse_sensor_msgs::Nostril> odorMsgs;
        std::vector<lse_sensor_msgs::Nostril>::iterator odorIt;
        ros::Publisher odor_pub = n.advertise<lse_sensor_msgs::Nostril>("/sensornet_odor", 1200);
        
        std::string port;
        n.param<std::string>("sensornet/port", port, "/dev/ttyUSB0");
        
        SensorNet sn(port, 19200);
        std::vector<SensorNet::Node>::iterator node;
        
        ROS_INFO("SensorNet - Scanning nodes...");
        sn.scanNodes(1);
        if(sn.nodes.size()==0)
        {
                ROS_ERROR("SensorNet - Found 0 nodes! Quitting program...");
                return -1;
        }
        ROS_INFO("SensorNet - Found %d node%s", sn.nodes.size(), sn.nodes.size()==1 ? "!" : "s!");
        
        for(node=sn.nodes.begin() ; node!=sn.nodes.end() ; node++)
        {
                sn.getSensors(&(*node));
                ros::Duration(0.1).sleep();
        }
        
        ROS_INFO("SensorNet - Syncing nodes...");
        sn.syncNodes();
        
        ros::Duration(0.5).sleep();
        
        double delay = 3.0;
        ros::Time start = ros::Time::now();
        for(node=sn.nodes.begin() ; node!=sn.nodes.end() ; node++)
        {
                sn.setTime(&(*node), start + ros::Duration(delay));
                ros::Duration(0.1).sleep();
        }
        ROS_INFO("SensorNet - Syncing complete, initiating data publish...");
        ros::Duration(delay+10).sleep();
        
        ros::Rate r(0.1);
        while(ros::ok())
        {
                odorMsgs.clear();
                for(node=sn.nodes.begin() ; node!=sn.nodes.end() ; node++)
                {
                        sn.getSensorReadings(&(*node), &odorMsgs, NULL);
                        ros::Duration(0.1).sleep();
                }
                
                int n=0;
                for(odorIt=odorMsgs.begin() ; odorIt!=odorMsgs.end() ; odorIt++)
                {
                        odor_pub.publish(*odorIt);
                        n++;
                }
                        
                ros::spinOnce();
                r.sleep();
        }
        
        return 0;
}

// EOF