radiometry.hpp

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#ifndef _THERMALVIS_RADIOMETRY_H_
#define _THERMALVIS_RADIOMETRY_H_
        
#include "time.h"

#include <signal.h>

#include "ros_resources.hpp"
#include "tools.hpp"
#include "improc.hpp"

#include <dynamic_reconfigure/server.h>
#include "radiometryConfig.h"

// MODBUS STUFF
#include <inttypes.h>
#include <stdint.h>
#include <stdio.h>
#include <unistd.h>
#include <string.h>
#include <stdlib.h>
#include <errno.h>
#include <modbus.h>

const uint16_t UT_BITS_NB = 0x25;
const uint16_t UT_INPUT_BITS_NB = 0x16;
const uint16_t UT_REGISTERS_NB = 0x3;
const uint16_t UT_INPUT_REGISTERS_NB = 0x1;

const uint16_t ISOTECH_SETPOINT_ADDR = 0x18; // Address 24
const uint16_t ISOTECH_TEMP_ADDR = 0x01; // Address 1
const uint16_t ISOTECH_SP_ADDR = 0x02; // Address 1

// ---END MODBUS STUFF

const char __PROGRAM__[] = "RADIOMETRY";

#define DEFAULT_MIN_STABLE_TIME                 60.0    // in seconds
#define DEFAULT_MAX_STABLE_VARIATION    0.01    // in seconds
#define DEFAULT_SERIAL_POLLING_RATE     0.1     // in cycles per second
#define DEFAULT_PORT_ADDRESS                    "/dev/ttyUSB0"
#define DEFAULT_BAUD_RATE                               9600
#define MAXIMUM_BLACKBODY_TEMPERATURE   80.0
#define TEMP_ERROR_HACK                                 0.001

typedef dynamic_reconfigure::Server < thermalvis::radiometryConfig > Server;

bool wantsToShutdown = false;
void mySigintHandler(int sig);

struct radiometryData {
        
        string read_addr;
        
        string thermal_topic;
        
        string outputFolder;

        bool verboseMode;
        
        bool communicateWithBlackbody;
        double serialPollingRate;
        double minStableTime;
        double maxStableVariation;
        double targetTemperature;
        
        double completionTimeout;
        
        string portAddress;
        int baudRate;
        
        radiometryData();
        
        bool obtainStartingData(ros::NodeHandle& nh);   
        
};

class radiometryNode {
private:

        char nodeName[256];
        
        bool targetTemperatureChanged;
        
        bool nodeStillValid;
        
        bool blackbodyIsSetup;
        
        char subdirectoryName[256];
        
        bool temperatureIsStable;
        bool stabilityOnceOffFlag;
        double stabilityTimer;
        double elapsedTime;
        ros::Time previousTime;
        
        int imageIndex;
        
        double currentTemp;
        
        cv::Mat lastFrame, frame;
        bool matEquality;
        
        string thermistorLogFile, imageLogFile, serialCommsFile;
        ofstream ofs_thermistor_log, ofs_image_log; //, ofs_serial_log;
        
        radiometryData configData;
        
        cv_bridge::CvImagePtr cv_ptr;
        
        image_transport::ImageTransport *it;
        image_transport::CameraSubscriber camera_sub;
        
        ros::Timer serial_timer;

        bool firstCall;
        
        // MODBUS STUFF
        modbus_t *ctx;
        uint8_t *tab_rp_bits;
        int nb_points;
        uint16_t *tab_rp_registers;
        
        
        // ---END MODBUS STUFF
        
        dynamic_reconfigure::Server<thermalvis::radiometryConfig> server;
        dynamic_reconfigure::Server<thermalvis::radiometryConfig>::CallbackType f;
        
        
public:
        
        radiometryNode(ros::NodeHandle& nh, radiometryData startupData);
        
        void handle_camera(const sensor_msgs::ImageConstPtr& msg_ptr, const sensor_msgs::CameraInfoConstPtr& info_msg);
        
        bool setupBlackbodyComms();
        bool setupBlackbody();
        
        bool changeSetPoint(double newVal);
        bool readTemperature(double& actualTemp);
        bool readSetpoint(double& setPoint);
        bool closeBlackbodyComms();
        
        void serialCallback(const ros::TimerEvent& e);
        
        void serverCallback(thermalvis::radiometryConfig &config, uint32_t level);
        
        void prepareForTermination();
        
        bool setupFilesAndDirectories();
        
        bool dataStillStreaming();
        
        bool isNodeValid();
        
        
        
};

boost::shared_ptr < radiometryNode > *globalNodePtr;

#endif