00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2010, LABUST, UNIZG-FER 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the LABUST nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 #ifndef NAVQUESTSOCKETNODE_HPP_ 00035 #define NAVQUESTSOCKETNODE_HPP_ 00036 00037 #include <labust/navigation/NavQuestMessages.hpp> 00038 #include <labust/navigation/BeamPublisher.hpp> 00039 00040 #include <tf/transform_broadcaster.h> 00041 #include <ros/ros.h> 00042 00043 #include <boost/asio.hpp> 00044 #include <boost/thread.hpp> 00045 00046 namespace labust 00047 { 00048 namespace navigation 00049 { 00058 class NavQuestSocketNode 00059 { 00060 enum {u=0,v,w}; 00061 00062 public: 00066 NavQuestSocketNode(); 00070 ~NavQuestSocketNode(); 00074 void onInit(); 00075 00076 protected: 00080 void onDvlData(const boost::system::error_code& e, std::size_t size); 00081 00085 bool setup_socket(); 00086 //bool setup_port(); 00087 00091 void start_receive(); 00095 void setup_messaging(); 00099 void setup_publishers(); 00103 bool test_header(const std::string& match , const std::string& stream); 00107 void publishDvlData(const NQRes& data); 00111 void conditionDvlData(const NQRes& data); 00112 00113 typedef BeamPublisher<4> NavQuestBP; 00117 std::map<std::string, NavQuestBP::Ptr > beam_pub; 00121 std::map<std::string, TwistPublisher::Ptr > speed_pub; 00125 ros::Publisher imuPub, lock, altitude;; 00129 tf::TransformBroadcaster broadcast; 00133 bool useFixed; 00137 double base_orientation; 00141 double magnetic_declination; 00142 00146 boost::asio::io_service io; 00150 boost::asio::ip::tcp::socket socket; 00151 //boost::asio::serial_port port; 00155 boost::thread runner; 00159 boost::asio::streambuf buffer; 00160 }; 00161 } 00162 } 00163 00164 00165 00166 /* NAVQUESTSOCKETNODE_HPP_ */ 00167 #endif