skin.cpp

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/*
 * Copyright (c) 2010, Bosch LLC
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above 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 Bosch LLC nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

//\Author Joerg Wagner, Bosch LLC

#include "proximity_sensor_dashboard/skin.h"

//wxwidgets stuff
#include <wx/wx.h>

Skin::Skin()
{
  //initialize data
  initialize_sensor_data();//function to initialize the sensor data
  dtime_subscription_ = ros::Time::now();
  bsens_num_changed = false;
  
  //ROS Subscriber
  skin_sub_ = nh_.subscribe("prox_sensor_data", 100, &Skin::skin_Callback, this);
}

void Skin::initialize_sensor_data()//function to initialize the sensor data
{
  //initialize data
  u8sensor_number_      = skind_def::max_sensor_number;
  u8readadr_hi_ = 1; //hardware defined values
  u8readadr_lo_ = 0;
  bstatus_go_ = 0;
  bstatus_err_ = 1;
  for(int i=0; i<skind_def::max_sensor_number; i++)
  {
    for(int j=0; j<skind_def::anz_byte_per_sensor; j++)
    {
      u8asensor_data_[i][j] = 0;
    }
  }
}

void Skin::skin_Callback(const boost::shared_ptr<proximity_sensor_driver::prox_sensor_measurement const>& msg)
{
  //check if sensor number changed
  if(u8sensor_number_ != msg->cell_count)
  {
    bsens_num_changed = true;//sensor number was changed to a smaller value => GUI needs to be initialized (if the gui is not initialized => old data of the no longer existing sensors are still displayed)
  }
  u8sensor_number_ = msg->cell_count;
  u8readadr_hi_ = 0;
  u8readadr_lo_ = 0;
  bstatus_go_ = msg->status_go;
  bstatus_err_ = msg->status_err;
  
  //Converting a 1 dimensional uint64 array into a 2 dimensional uint8 array
  ROS_DEBUG("Executing skin_Callback");
  
  for(int i = 0; i < skind_def::max_sensor_number; i++)//convert received sensor data into 2 dimensional uint8_t array
  {
    u8asensor_data_[i][0] = 0;
    u8asensor_data_[i][1] = msg->value[i];
    u8asensor_data_[i][2] = msg->offset[i];
    u8asensor_data_[i][3] = msg->limit[i];
    u8asensor_data_[i][4] = msg->debug_voltage1[i];
    u8asensor_data_[i][5] = msg->debug_voltage2[i];
    u8asensor_data_[i][6] = msg->debug_voltage3[i];
    u8asensor_data_[i][7] = 0;
  }
  
  dtime_subscription_ = ros::Time::now();
}