Beispiel #1
0
int main(int argc, char *argv[])
{
	ros::Publisher pub[TOPIC_NR];
	int port, plane;
	int sock, asock;

	struct sigaction act;
	memset(&act, 0, sizeof(act));
	act.sa_handler = stopChildProcess;
	if (sigaction(SIGTERM, &act, NULL) == -1) {
		perror("sigaction");
		return -1;
	}

	ros::init(argc, argv, NODE_NAME);
	ros::NodeHandle node;
	pub[0] = node.advertise<tablet_socket_msgs::gear_cmd>("gear_cmd", 1);
	pub[1] = node.advertise<tablet_socket_msgs::mode_cmd>("mode_cmd", 1);
	pub[2] = node.advertise<tablet_socket_msgs::route_cmd>("route_cmd", 1);
	pub[3] = node.advertise<geometry_msgs::PoseStamped>("gnss_pose", 1);
	pub[4] = node.advertise<std_msgs::Bool>("gnss_stat", 1);
	node.param<int>("tablet_receiver/port", port, DEFAULT_PORT);
	node.param<int>("tablet_receiver/plane", plane, DEFAULT_PLANE);
	fprintf(stderr, "listen port=%d\n", port);

	geo.set_plane(plane);

	//get connect to android
	sock = -1;

	sigaction(SIGINT, NULL, &act);
	act.sa_flags &= ~SA_RESTART;
	sigaction(SIGINT, &act, NULL);

	while (getConnect(port, &sock, &asock) != -1) {
		struct timeval tv[2];
		double sec;
		int count;

		fprintf(stderr, "get connect.\n");
		gettimeofday(tv, NULL);
		for (count = 0; ; count++) {
			if(getSensorValue(asock, pub) == -1)
				break;
			if(sendSignal(asock) == -1)
				break;
		}
		close(asock);
		gettimeofday(tv+1, NULL);
		sec = (tv[1].tv_sec - tv[0].tv_sec) +
			(tv[1].tv_usec - tv[0].tv_usec) / 1000000.0;
		fprintf(stderr, "done, %f sec\n",sec);
	}

	return 0;
}
Beispiel #2
0
int main(int argc, char **argv)
{
    ros::init(argc, argv, "nmea2tfpose");

    ros::NodeHandle n;
    ros::NodeHandle private_nh("~");

    private_nh.getParam("plane", _plane);
    std::cout << "plane number : " << _plane << std::endl;

    geo.set_plane(_plane);
    ros::Subscriber sub = n.subscribe("nmea_sentence", 1000, NmeaCallback);
    pose_publisher = n.advertise<geometry_msgs::PoseStamped>("gnss_pose", 1000);
    stat_publisher = n.advertise<std_msgs::Bool>("/gnss_stat", 100);
    ros::spin();

    return 0;
}
Beispiel #3
0
static int getSensorValue(int sock, ros::Publisher pub[TOPIC_NR])
{
	int info[2];
	size_t size = sizeof(info);
	ssize_t nbytes;

	for (char *p = (char *)info; size; size -= nbytes, p += nbytes) {
		nbytes = recv(sock, info, size, 0);
		if (nbytes == -1) {
			perror("recv");
			return -1;
		}
		if (nbytes == 0) {
			fprintf(stderr, "peer is shutdown\n");
			return -1;
		}
	}
	fprintf(stderr, "info=%d value=%d\n", info[0], info[1]);

	switch(info[0]) {
	case 1: { // GEAR
		tablet_socket_msgs::gear_cmd msg;
		msg.gear = info[1];
		pub[0].publish(msg);
		break;
	}
	case 2: { // MODE
		tablet_socket_msgs::mode_cmd msg;
		msg.mode = info[1];
		pub[1].publish(msg);
		break;
	}
	case 3: { // ROUTE
		size = info[1];
		if (!size)
			break;

		double *points = (double *)malloc(size);
		if (points == NULL) {
			perror("malloc");
			return -1;
		}

		int points_nr = size / sizeof(double);

		for (char *p = (char *)points; size;
		     size -= nbytes, p += nbytes) {
			nbytes = recv(sock, p, size, 0);
			if (nbytes == -1) {
				perror("recv");
				free(points);
				return -1;
			}
			if (nbytes == 0) {
				fprintf(stderr, "peer is shutdown\n");
				free(points);
				return -1;
			}
		}

		tablet_socket_msgs::route_cmd msg;
		tablet_socket_msgs::Waypoint point;
		for (int i = 0; i < points_nr; i++) {
			if (i % 2) {
				point.lon = points[i];
				msg.point.push_back(point);
			} else
				point.lat = points[i];
		}

		free(points);

		pub[2].publish(msg);
		break;
	}
	case 4: { // S1
		if (info[1] >= 0)
			s1.start();
		else
			s1.stop();
		break;
	}
	case 5: { // S2
		if (info[1] >= 0)
			s2.start();
		else
			s2.stop();
		break;
	}
	case 6: { // POSE
		size = info[1];
		if (!size)
			break;

		double *buf = (double *)malloc(size);
		if (buf == NULL) {
			perror("malloc");
			return -1;
		}

		for (char *p = (char *)buf; size;
		     size -= nbytes, p += nbytes) {
			nbytes = recv(sock, p, size, 0);
			if (nbytes == -1) {
				perror("recv");
				free(buf);
				return -1;
			}
			if (nbytes == 0) {
				fprintf(stderr, "peer is shutdown\n");
				free(buf);
				return -1;
			}
		}

		geo.llh_to_xyz(buf[0], buf[1], buf[2]);

		tf::Transform transform;
		tf::Quaternion q;
		transform.setOrigin(tf::Vector3(geo.y(), geo.x(), geo.z()));
		q.setRPY(buf[4], buf[5], buf[3]);
		transform.setRotation(q);

		free(buf);

		ros::Time now = ros::Time::now();

		tf::TransformBroadcaster br;
		br.sendTransform(tf::StampedTransform(transform, now, "map",
						      "gps"));

		geometry_msgs::PoseStamped pose;
		pose.header.stamp = now;
		pose.header.frame_id = "map";
		pose.pose.position.x = geo.y();
		pose.pose.position.y = geo.x();
		pose.pose.position.z = geo.z();
		pose.pose.orientation.x = q.x();
		pose.pose.orientation.y = q.y();
		pose.pose.orientation.z = q.z();
		pose.pose.orientation.w = q.w();

		std_msgs::Bool stat;
		if (pose.pose.position.x == 0 || pose.pose.position.y == 0 ||
		    pose.pose.position.z == 0)
			stat.data = false;
		else
			stat.data = true;

		pub[3].publish(pose);
		pub[4].publish(stat);
		break;
	}
	default: // TERMINATOR
		fprintf(stderr, "receive %d, terminated.\n", info[0]);
		sendSignal(sock);
		return -1;
	}

	return 0;
}
Beispiel #4
0
static void NmeaCallback(const nmea_msgs::Sentence::ConstPtr& msg)
{
    static double qq_time, roll, pitch, yaw;
    //static double gga_time, x, y, z;
    static double gga_time;
    static tf::TransformBroadcaster br;
    static ros::Time pc_time;
    std::vector<std::string> nmea;
    csv_div(msg->sentence, &nmea);
    //static bool calibration_flag = true;

    // printf("%s\n",msg->sentence.c_str());

    if (nmea[0].compare(0, 2, "QQ") == 0) {
        pc_time = msg->header.stamp;
        /*
         qq_time = str2double(nmea[3]);
         roll = str2double(nmea[4]) * M_PI / 180.;
         pitch = -1 * str2double(nmea[5]) * M_PI / 180.;
         yaw = -1 * str2double(nmea[6]) * M_PI / 180. + M_PI / 2;
         */
        qq_time = stod(nmea[3]);
        roll = stod(nmea[4]) * M_PI / 180.;
        pitch = -1 * stod(nmea[5]) * M_PI / 180.;
        yaw = -1 * stod(nmea[6]) * M_PI / 180. + M_PI / 2;

        // new QQ message
   /*     if (nmea.size() == NEW_QQ_SIZE) {
            if (stod(nmea[7]) == 1 && stod(nmea[8]) == 1 && stod(nmea[9]) == 1) {
                calibration_flag = true;
            } else {
                calibration_flag = false;
            }
        }*/
        //printf("angle %f  %f %f %f\n",qq_time,roll,pitch,yaw);
    }

//    if (calibration_flag == true) {
        if (nmea[0] == "$GPGGA") {
            pc_time = msg->header.stamp;
            /*
             gga_time = str2double(nmea[1]);
             double lat = str2double(nmea[2]);
             double lon = str2double(nmea[4]);
             double h = str2double(nmea[9]); //+str2double(nmea[11]);
             */
            gga_time = stod(nmea[1]);
            double lat = stod(nmea[2]);
            double lon = stod(nmea[4]);
            double h = stod(nmea[9]);

            geo.set_llh_nmea_degrees(lat, lon, h);
            //    printf("pos %f  %f %f %f\n",gga_time,geo.x,geo.y,geo.z);
        }

        // if (qq_time == gga_time) {
        if (fabs(qq_time - gga_time) <= __FLT_EPSILON__) {
            //printf("%f %f %f %f %f  %f %f %f\n", pc_time.toSec(), gga_time, geo.x(), geo.y(), geo.z(), roll, pitch, yaw);

            tf::Transform transform;
            tf::Quaternion q;

            transform.setOrigin(tf::Vector3(geo.y(), geo.x(), geo.z()));
            q.setRPY(roll, pitch, yaw);
            transform.setRotation(q);
            br.sendTransform(tf::StampedTransform(transform, pc_time, "map", "gps"));

            geometry_msgs::PoseStamped pose;
            pose.header = msg->header;
            pose.header.frame_id = "map";
            pose.pose.position.x = geo.y();
            pose.pose.position.y = geo.x();
            pose.pose.position.z = geo.z();
            pose.pose.orientation.x = q.x();
            pose.pose.orientation.y = q.y();
            pose.pose.orientation.z = q.z();
            pose.pose.orientation.w = q.w();

            // set gnss_stat
            if (pose.pose.position.x == 0.0 || pose.pose.position.y == 0.0 || pose.pose.position.z == 0.0) {
                gnss_stat_msg.data = false;
            } else {
                gnss_stat_msg.data = true;
            }

            pose_publisher.publish(pose);
            stat_publisher.publish(gnss_stat_msg);
        }
 /*   } else {
        std::cout << "not calibrated!!" << std::endl;
    }*/
}