sonar.cpp

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/*
 * Copyright 2015 Aldebaran
 *
 * 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.
 *
*/

/*
* LOCAL includes
*/
#include "sonar.hpp"

namespace naoqi
{
namespace recorder
{

SonarRecorder::SonarRecorder(const std::vector<std::string>& topics, float buffer_frequency ):
  topics_(topics),
  buffer_duration_(helpers::recorder::bufferDefaultDuration),
  buffer_frequency_(buffer_frequency),
  counter_(1)
{}

void SonarRecorder::write(const std::vector<sensor_msgs::Range>& sonar_msgs)
{
  if ( topics_.size() != sonar_msgs.size() )
  {
    std::cerr << "Incorrect number of sonar range messages in sonar recorder. " << sonar_msgs.size() << "/" << topics_.size() << std::endl;
    return;
  }

  for( size_t i=0; i<sonar_msgs.size(); ++i)
  {
    if (!sonar_msgs[i].header.stamp.isZero()) {
      gr_->write(topics_[i], sonar_msgs[i], sonar_msgs[i].header.stamp);
    }
    else {
      gr_->write(topics_[i], sonar_msgs[i]);
    }
  }
}

void SonarRecorder::writeDump(const ros::Time& time)
{
  boost::mutex::scoped_lock lock_write_buffer( mutex_ );
  boost::circular_buffer< std::vector<sensor_msgs::Range> >::iterator it;
  for (it = buffer_.begin(); it != buffer_.end(); it++)
  {
    write(*it);
  }
}

void SonarRecorder::reset(boost::shared_ptr<GlobalRecorder> gr, float conv_frequency)
{
  gr_ = gr;
  conv_frequency_ = conv_frequency;
  if (buffer_frequency_ != 0)
  {
    max_counter_ = static_cast<int>(conv_frequency/buffer_frequency_);
    buffer_size_ = static_cast<size_t>(buffer_duration_*(conv_frequency/max_counter_));
  }
  else
  {
    max_counter_ = 1;
    buffer_size_ = static_cast<size_t>(buffer_duration_*conv_frequency);
  }
  buffer_.resize(buffer_size_);
  is_initialized_ = true;
}

void SonarRecorder::bufferize(const std::vector<sensor_msgs::Range>& sonar_msgs )
{
  boost::mutex::scoped_lock lock_bufferize( mutex_ );
  if (counter_ < max_counter_)
  {
    counter_++;
  }
  else
  {
    counter_ = 1;
    buffer_.push_back(sonar_msgs);
  }
}

void SonarRecorder::setBufferDuration(float duration)
{
  boost::mutex::scoped_lock lock_bufferize( mutex_ );
  buffer_size_ = static_cast<size_t>(duration*(conv_frequency_/max_counter_));
  buffer_duration_ = duration;
  buffer_.set_capacity(buffer_size_);
}

} //publisher
} // naoqi