phidget_sensors_node.cpp

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/*
 * Copyright 2017 Fraunhofer Institute for Manufacturing Engineering and Automation (IPA)
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *   http://www.apache.org/licenses/LICENSE-2.0

 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 */
 

#include <ros/ros.h>
#include <cob_phidgets/phidget_manager.h>
#include <cob_phidgets/phidgetik_ros.h>

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

        int freq;
        std::string update_mode;
        std::vector<std::shared_ptr<Phidget>> phidgets;
        ros::NodeHandle nodeHandle;
        ros::NodeHandle nh("~");
        std::map<int, std::pair<std::string, XmlRpc::XmlRpcValue> > phidget_params_map;
        std::map<int, std::pair<std::string, XmlRpc::XmlRpcValue> >::iterator phidget_params_map_itr;

        //get default params from server
        nh.param<int>("frequency",freq, 30);
        nh.param<std::string>("update_mode", update_mode, "polling");

        //get board params from server
        XmlRpc::XmlRpcValue phidget_params;
        if(nh.getParam("boards",phidget_params))
        {
                for(auto& board : phidget_params)
                {
                        std::string board_name = board.first;
                        ROS_DEBUG("Found Board with name '%s' in params", board_name.c_str());
                        if(!board.second.hasMember("serial_num"))
                        {
                                ROS_ERROR("Board '%s' has no serial_num param in phidget yaml config",board_name.c_str());
                                continue;
                        }
                        XmlRpc::XmlRpcValue board_desc = board.second;
                        ros::NodeHandle boards_nh(nh, "boards");
                        ros::NodeHandle sensors_nh(boards_nh, board_name);
                        XmlRpc::XmlRpcValue board_param;
                        if(!sensors_nh.getParam("sensors", board_param))
                        {
                                ROS_ERROR("Board '%s' has no sensors param in phidget yaml config",board_name.c_str());
                                continue;
                        }
                        phidget_params_map.insert(std::make_pair(board_desc["serial_num"],
                                        std::make_pair(board_name, board_param)));
                }
        }
        else
        {
                ROS_WARN("No params for the phidget boards on the Paramserver using default name/port values");
        }

        //look for attached devices
        PhidgetManager* manager = new PhidgetManager();
        auto devices = manager->getAttachedDevices();
        delete manager;

        //set the update method
        PhidgetIK::SensingMode sensMode;
        if(update_mode == "event")
                sensMode = PhidgetIK::SensingMode::EVENT;
        else if(update_mode == "polling")
                sensMode = PhidgetIK::SensingMode::POLLING;
        else
        {
                ROS_WARN("Unknown update mode '%s' use polling instead", update_mode.c_str());
                sensMode = PhidgetIK::SensingMode::POLLING;
        }

        //if no devices attached exit
        if(devices.size() > 0)
        {
                //loop over all found devices and init them
                for(auto& device : devices)
                {
                        phidget_params_map_itr = phidget_params_map.find(device.serial_num);
                        XmlRpc::XmlRpcValue *sensors_param = (phidget_params_map_itr != phidget_params_map.end()) ? &((*phidget_params_map_itr).second.second) : nullptr;
                        std::string name;
                        if(sensors_param != nullptr)
                                name = (*phidget_params_map_itr).second.first;
                        else
                        {
                                ROS_WARN("Could not find parameters for Board with serial: %d. Using default params!", device.serial_num);
                                std::stringstream ss; ss << device.serial_num;
                                name = ss.str();
                        }
                        phidgets.push_back(
                                std::make_shared<PhidgetIKROS>(nodeHandle, device.serial_num, name, sensors_param, sensMode));
                }

                ros::Rate loop_rate(freq);
                while (ros::ok())
                {
                        //update devices if update method is polling
                        if(sensMode == PhidgetIK::SensingMode::POLLING)
                        {
                                for(auto& phidget : phidgets)
                                {
                                        phidget->update();
                                }
                        }
                        ros::spinOnce();
                        loop_rate.sleep();
                }
        }
        else
        {
                ROS_ERROR("Phidget Manager could not find any attached devices");
        }

        return 0;
}