allocation_node.cpp

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#include <labust/allocation/allocation_node.h>
#include <labust/tools/conversions.hpp>

#include <std_msgs/Float32MultiArray.h>

using namespace labust::allocation;

AllocationNode::AllocationNode():
                                        timeout(0.5),
                                        alloc_loader("labust_allocation",
                                                        "labust::allocation::AllocationInterface")
{
        this->onInit();
}

AllocationNode::~AllocationNode(){}

void AllocationNode::onInit()
{
        ros::NodeHandle nh, ph("~");
        try
        {
                //Configure comms
                std::string allocplug("NONE");
                ph.param("allocation_plugin", allocplug, allocplug);
                alloc = alloc_loader.createInstance(allocplug);
                if ((alloc == 0) || !alloc->configure(nh, ph))
                        throw std::runtime_error("AllocationNode: failed to configure the allocation class.");
                ROS_INFO("AllocationNode: Comms plugin: '%s' loaded", allocplug.c_str());
        }
        catch(pluginlib::PluginlibException& ex)
        {
                //handle the class failing to load
                ROS_ERROR("The plugin failed to load for some reason. Error: %s", ex.what());
        }

        //Initialize subscribers and publishers
        tau_sub = nh.subscribe("tau_in", 1, &AllocationNode::onTau,this);
        tauach_pub = nh.advertise<auv_msgs::BodyForceReq>("tau_ach",1);
        pwm_pub = nh.advertise<std_msgs::Float32MultiArray>("pwm_out",1);
}

void AllocationNode::onTau(const auv_msgs::BodyForceReq::ConstPtr tau)
{
        //Reset timer

        //Load into vector
        Eigen::VectorXd tauv(AllocationInterface::N+1);
        labust::tools::pointToVector(tau->wrench.force, tauv);
        labust::tools::pointToVector(tau->wrench.torque, tauv, AllocationInterface::K);
        //Perform allocation
        const std::vector<double>& pwm = alloc->allocate(tauv);

        //Publish PWM data
        std_msgs::Float32MultiArray::Ptr pwmd(new std_msgs::Float32MultiArray());
        pwmd->data.assign(pwm.begin(),pwm.end());
        pwm_pub.publish(pwmd);

        //Publish the achieved tau
        auv_msgs::BodyForceReq::Ptr tau_ach(new auv_msgs::BodyForceReq());
        const Eigen::VectorXd& tauA = alloc->tauA();
        labust::tools::vectorToPoint(tauA, tau_ach->wrench.force);
        labust::tools::vectorToPoint(tauA, tau_ach->wrench.torque, AllocationInterface::K);
        const std::vector<bool>& wdp = alloc->windup();
        labust::tools::vectorToPoint(wdp, tau_ach->disable_axis);
        labust::tools::vectorToRPY(wdp, tau_ach->disable_axis, AllocationInterface::K);
        //Backward compatibility
        Eigen::VectorXd tsgn(tauA);
        for (int i=0; i<tsgn.size(); ++i)       tsgn(i)=((tsgn(i)>=0)?wdp[i]:-wdp[i]);
        labust::tools::vectorToPoint(tsgn, tau_ach->windup);
        labust::tools::vectorToRPY(tsgn, tau_ach->windup, AllocationInterface::K);
        tau_ach->header.stamp = ros::Time::now();
        tauach_pub.publish(tau_ach);
}

int main(int argc, char* argv[])
{
        ros::init(argc,argv,"allocation_node");

        labust::allocation::AllocationNode node;
        ros::spin();

        return 0;
}