PlaDyPosNode.hpp

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2010, LABUST, UNIZG-FER
*  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 the LABUST 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 INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/
#ifndef PLADYPOSNODE_HPP_
#define PLADYPOSNODE_HPP_
#include <labust/vehicles/ScaleAllocation.hpp>
#include <pladypos/ThrusterMappingConfig.h>

#include <auv_msgs/BodyForceReq.h>
#include <dynamic_reconfigure/server.h>
#include <ros/ros.h>

#include <Eigen/Dense>

#include <boost/asio.hpp>
#include <boost/thread.hpp>

namespace labust
{
        namespace vehicles
        {
                class PlaDyPosNode
                {
                        static const float sscale[6];
                        enum {current0, current1, current2, current3, currentConv, voltage};
                public:
                        PlaDyPosNode();

                        ~PlaDyPosNode();

                        void configure(ros::NodeHandle& nh, ros::NodeHandle& ph);

                protected:
                        ros::Subscriber tau;
                        ros::Publisher tauAch, diag, info;

                        void driverMsg(const int n[4]);
                        void pubDiagnostics();

                        void onTau(const auv_msgs::BodyForceReq::ConstPtr tau);
                        void safetyTest();
                        void dynrec(pladypos::ThrusterMappingConfig& config, uint32_t level);
                        void onReply(const boost::system::error_code& error, const size_t& transferred);
                        void start_receive();
                        boost::thread safety;
                        boost::mutex serialMux;
                        ros::Time lastTau;
                        double timeout;

                        dynamic_reconfigure::Server<pladypos::ThrusterMappingConfig> server;
                        bool revControl;

                        boost::asio::io_service io;
                        boost::asio::serial_port port;
                        boost::thread iorunner;
                        boost::asio::streambuf sbuffer;
                        boost::array<float,6> sensors;
                        int lastRevs[4];

                        Eigen::Matrix<float, 3,4> B;
                        ScaleAllocation allocator;
                };
        }
}
/* PLADYPOSNODE_HPP_ */
#endif