bool start()
{
if (isDSAInitialized_ == false)
{
//Init tactile data
if(!dsadevicestring_.empty()) {
try
{
dsa_ = new SDH::cDSA(0, dsadevicenum_, dsadevicestring_.c_str());
if(!polling_)
dsa_->SetFramerate( frequency_, use_rle_ );
else
dsa_->SetFramerate( 0, use_rle_ );
ROS_INFO("Initialized RS232 for DSA Tactile Sensors on device %s",dsadevicestring_.c_str());
// ROS_INFO("Set sensitivity to 1.0");
// for(int i=0; i<6; i++)
// dsa_->SetMatrixSensitivity(i, 1.0);
error_counter_ = 0;
isDSAInitialized_ = true;
}
catch (SDH::cSDHLibraryException* e)
{
isDSAInitialized_ = false;
ROS_ERROR("An exception was caught: %s", e->what());
delete e;
shutdown();
return false;
}
}
}
return true;
}
void pollDsa(){
if(debug_) ROS_DEBUG("pollDsa");
if(isDSAInitialized_)
{
try
{
dsa_->SetFramerate( 0, use_rle_ );
readDsaFrame();
}
catch (SDH::cSDHLibraryException* e)
{
ROS_ERROR("An exception was caught: %s", e->what());
delete e;
++error_counter_;
}
if(error_counter_ > maxerror_) stop();
}else{
start();
}
}
/*!
* \brief Executes the service callback for init.
*
* Connects to the hardware and initialized it.
* \param req Service request
* \param res Service response
*/
bool srvCallback_Init( cob_srvs::Trigger::Request &req,
cob_srvs::Trigger::Response &res )
{
if (isInitialized_ == false)
{
//Init Hand connection
try
{
if(sdhdevicetype_.compare("RS232")==0)
{
sdh_->OpenRS232( sdhdevicenum_, 115200, 1, sdhdevicestring_.c_str());
ROS_INFO("Initialized RS232 for SDH");
isInitialized_ = true;
}
if(sdhdevicetype_.compare("PCAN")==0)
{
ROS_INFO("Starting initializing PEAKCAN");
sdh_->OpenCAN_PEAK(baudrate_, timeout_, id_read_, id_write_, sdhdevicestring_.c_str());
ROS_INFO("Initialized PEAK CAN for SDH");
isInitialized_ = true;
}
if(sdhdevicetype_.compare("ESD")==0)
{
ROS_INFO("Starting initializing ESD");
if(strcmp(sdhdevicestring_.c_str(), "/dev/can0") == 0)
{
ROS_INFO("Initializing ESD on device %s",sdhdevicestring_.c_str());
sdh_->OpenCAN_ESD(0, baudrate_, timeout_, id_read_, id_write_ );
}
else if(strcmp(sdhdevicestring_.c_str(), "/dev/can1") == 0)
{
ROS_INFO("Initializin ESD on device %s",sdhdevicestring_.c_str());
sdh_->OpenCAN_ESD(1, baudrate_, timeout_, id_read_, id_write_ );
}
else
{
ROS_ERROR("Currently only support for /dev/can0 and /dev/can1");
res.success.data = false;
res.error_message.data = "Currently only support for /dev/can0 and /dev/can1";
return true;
}
ROS_INFO("Initialized ESDCAN for SDH");
isInitialized_ = true;
}
}
catch (SDH::cSDHLibraryException* e)
{
ROS_ERROR("An exception was caught: %s", e->what());
res.success.data = false;
res.error_message.data = e->what();
delete e;
return true;
}
//Init tactile data
try
{
dsa_ = new SDH::cDSA(0, dsadevicenum_, dsadevicestring_.c_str());
//dsa_->SetFramerate( 0, true, false );
dsa_->SetFramerate( 1, true );
ROS_INFO("Initialized RS232 for DSA Tactile Sensors on device %s",dsadevicestring_.c_str());
// ROS_INFO("Set sensitivity to 1.0");
// for(int i=0; i<6; i++)
// dsa_->SetMatrixSensitivity(i, 1.0);
isDSAInitialized_ = true;
}
catch (SDH::cSDHLibraryException* e)
{
isDSAInitialized_ = false;
ROS_ERROR("An exception was caught: %s", e->what());
res.success.data = false;
res.error_message.data = e->what();
delete e;
return true;
}
}
else
{
ROS_WARN("...sdh already initialized...");
res.success.data = true;
res.error_message.data = "sdh already initialized";
}
res.success.data = true;
return true;
}