NavQuestSocketNode.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 NAVQUESTSOCKETNODE_HPP_
#define NAVQUESTSOCKETNODE_HPP_

#include <labust/navigation/NavQuestMessages.hpp>
#include <labust/navigation/BeamPublisher.hpp>

#include <tf/transform_broadcaster.h>
#include <ros/ros.h>

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

namespace labust
{
        namespace navigation
        {
                class NavQuestSocketNode
                {
                        enum {u=0,v,w};

                public:
                        NavQuestSocketNode();
                        ~NavQuestSocketNode();
                        void onInit();

                protected:
                        void onDvlData(const boost::system::error_code& e, std::size_t size);

                        bool setup_socket();
                        //bool setup_port();
                
                        void start_receive();
                        void setup_messaging();
                        void setup_publishers();
                        bool test_header(const std::string& match , const std::string& stream);
                        void publishDvlData(const NQRes& data);
                        void conditionDvlData(const NQRes& data);

                        typedef BeamPublisher<4> NavQuestBP;
                        std::map<std::string, NavQuestBP::Ptr > beam_pub;
                        std::map<std::string, TwistPublisher::Ptr > speed_pub;
                        ros::Publisher imuPub, lock, altitude;;
                        tf::TransformBroadcaster broadcast;
                        bool useFixed;
                        double base_orientation;
                        double magnetic_declination;

                        boost::asio::io_service io;
                        boost::asio::ip::tcp::socket socket;
                        //boost::asio::serial_port port;
                        boost::thread runner;
                        boost::asio::streambuf buffer;
                };
        }
}



/* NAVQUESTSOCKETNODE_HPP_ */
#endif