general_purpose.cpp

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/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, ISR University of Coimbra.
*  All rights reserved.
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*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the ISR University of Coimbra nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
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*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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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;

void mapFrame(std::string * name, const char * base_name, int id)
{
        char temp_name[128];
        sprintf(temp_name, "%s_%d", base_name, id);

        name->clear();
        name->assign(temp_name);
}

int main(int argc, char** argv)
{
        ros::init(argc, argv, "general_node");
        
        ros::NodeHandle n;
        ros::NodeHandle pn("~");
        
        std::vector<lse_sensor_msgs::Range> range_msgs;
        std::vector<lse_sensor_msgs::Nostril> nose_msgs;
        std::vector<lse_sensor_msgs::TPA> tpa_msgs;
        std::vector<lse_sensor_msgs::Anemometer> anemometer_msgs;
        
        ros::Publisher range_pub;
        ros::Publisher nose_pub;
        ros::Publisher tpa_pub;
        ros::Publisher anemometer_pub;
        
        // Read of type c-string/char buffer
        std::string port;
        pn.param<std::string>("port", port, "/dev/ttyUSB0");
        std::string sonar_frame_id;
        pn.param<std::string>("sonar_frame_id", sonar_frame_id, "/base_sonar");
        std::string nose_frame_id;
        pn.param<std::string>("nose_frame_id", nose_frame_id, "/base_nose");
        std::string tpa_frame_id;
        pn.param<std::string>("tpa_frame_id", tpa_frame_id, "/base_tpa");
        std::string anemometer_frame_id;
        pn.param<std::string>("anemometer_frame_id", anemometer_frame_id, "/base_anemometer");
        std::string file_path;
        pn.param<std::string>("calibration_file_path", file_path, "anemometer.csv");
        bool scan_sensors;
        pn.param("scan_sensors", scan_sensors, true);

        Ardusim ardusim(port);
        
        int counter=0;
        if(scan_sensors)
        {
                while(!ardusim.sensorDiscovery(500))
                {
                        counter++;
                        if(counter==3)
                        {
                                ROS_FATAL("Ardusim GPnode - Failed to scan sensors for request from the Arduino!");
                                ROS_BREAK();
                        }
                        ROS_WARN("Ardusim GPnode - Retrying to aquire sensors for request from the Arduino...");
                }
        }
        else
        {
                while(!ardusim.setAutoRequests(500))
                {
                        counter++;
                        if(counter==3)
                        {
                                ROS_FATAL("Ardusim GPnode - Failed to aquire sensors for request from the Arduino!");
                                ROS_BREAK();
                        }
                        ROS_WARN("Ardusim GPnode - Retrying to aquire sensors for request from the Arduino...");
                }
        }
        
        std::list<int> requests;
        std::list<int>::iterator it;
        ardusim.getRequests(&requests);
        
        it=requests.begin();
        while(it!=requests.end())
        {
                if(*it==ARDUSIM_RANGE)
                {
                        range_pub = n.advertise<lse_sensor_msgs::Range>("range", 1);
                        ROS_INFO("Ardusim GPnode - Advertising lse_sensor_msgs::Range on topic /range");
                }
                else if(*it==ARDUSIM_NOSE)
                {
                        nose_pub = n.advertise<lse_sensor_msgs::Nostril>("nose", 1);
                        ROS_INFO("Ardusim GPnode - Advertising lse_sensor_msgs::Nostril on topic /nose");
                }
                else if(*it==ARDUSIM_TPA)
                {
                        tpa_pub = n.advertise<lse_sensor_msgs::TPA>("tpa", 1);
                        ROS_INFO("Ardusim GPnode - Advertising lse_sensor_msgs::TPA on topic /tpa");
                }
                else if(*it==ARDUSIM_ANEMOMETER)
                {
                        if(!ardusim.loadAnemometerCalibFile(&file_path))
                        {
                                ROS_FATAL("Ardusim GPnode - Could not load the anemometer calibration file!");
                                ROS_BREAK();
                        }
                
                        anemometer_pub = n.advertise<lse_sensor_msgs::Anemometer>("wind", 1);
                        ROS_INFO("Ardusim GPnode - Advertising lse_sensor_msgs::Anemometer on topic /anemometer");
                }
                else
                {
                        ROS_WARN("Ardusim GPnode - Ops! Found an unknown sensor id %d", *it);
                }
                ++it;
        }
        
        ROS_INFO("Ardusim GPnode - Initiating sensor data publishing...");

        int i;
        std::string frame_id;
        
        ros::Rate r(10);
        while(ros::ok())
        {
                if(ardusim.getSensorData(100))
                {
                        if(ardusim.getRange(&range_msgs))
                        {
                                ROS_INFO("Got Range!!!");
                                for(i=0 ; i<range_msgs.size() ; i++)
                                {
                                        if(range_msgs.size()==1) range_msgs[i].header.frame_id = sonar_frame_id;
                                        else
                                        {
                                                mapFrame(&frame_id, sonar_frame_id.c_str(), i);
                                                range_msgs[i].header.frame_id = frame_id;
                                        }
                                        range_msgs[i].field_of_view = 0.523598776;      // 30 degress
                                        range_msgs[i].min_range = 0.03;
                                        range_msgs[i].max_range = 2.00;
                                        
                                        range_pub.publish(range_msgs.at(i));
                                }
                        }
                        if(ardusim.getNose(&nose_msgs))
                        {
                                for(i=0 ; i<nose_msgs.size() ; i++)
                                {n.param<std::string>("anemometer_frame_id", anemometer_frame_id, "/base_anemometer");
                                        if(nose_msgs.size()==1) nose_msgs[i].header.frame_id = nose_frame_id;
                                        else
                                        {
                                                mapFrame(&frame_id, nose_frame_id.c_str(), i);
                                                nose_msgs[i].header.frame_id = frame_id;
                                        }
                                        nose_msgs[i].min_reading = 0.0;
                                        nose_msgs[i].max_reading = 3300.0;
                                        
                                        nose_pub.publish(nose_msgs.at(i));
                                }
                        }
                        if(ardusim.getTPA(&tpa_msgs))
                        {
                                for(i=0 ; i<tpa_msgs.size() ; i++)
                                {
                                        if(tpa_msgs.size()==1) tpa_msgs[i].header.frame_id = tpa_frame_id;
                                        else
                                        {
                                                mapFrame(&frame_id, tpa_frame_id.c_str(), i);
                                                tpa_msgs[i].header.frame_id = frame_id;
                                        }
                                        
                                        tpa_pub.publish(tpa_msgs.at(i));
                                }
                        }
                        if(ardusim.getAnemometer(&anemometer_msgs))
                        {
                                for(i=0 ; i<anemometer_msgs.size() ; i++)
                                {
                                        if(anemometer_msgs.size()==1) anemometer_msgs[i].header.frame_id = anemometer_frame_id;
                                        else
                                        {
                                                mapFrame(&frame_id, anemometer_frame_id.c_str(), i);
                                                anemometer_msgs[i].header.frame_id = frame_id;
                                        }
                                        
                                        anemometer_pub.publish(anemometer_msgs.at(i));
                                }
                        }
                }
                r.sleep();
        }
        return(0);
}

// EOF