JointStateToPeis::JointStateToPeis()
{
int my_peis_id = peiskmt_peisid();
joint_state_sub_ = nh_.subscribe("jaco/joint_states", 1, &JointStateToPeis::jointStateCB, this);
current_pose_sub_ = nh_.subscribe("jaco/current_pose", 1, &JointStateToPeis::currentPoseCB, this);
peiskmt_registerTupleCallback(my_peis_id, "jaco_joint_states.publishing_frequency", this, &JointStateToPeis::jointStatePubFreqCB);
peiskmt_registerTupleCallback(my_peis_id, "jaco_current_pose.publishing_frequency", this, &JointStateToPeis::currentPosePubFreqCB);
joint_state_pub_freq_ = boost::shared_ptr<ros::Rate> (new ros::Rate(10.0));
joint_state_pub_freq_ = boost::shared_ptr<ros::Rate> (new ros::Rate(10.0));
peiskmt_setStringTuple("jaco_joint_states.publishing_frequency", "10.00");
peiskmt_setStringTuple("jaco_current_pose.publishing_frequency", "10.00");
peiskmt_setStringTuple("jaco_joint_states.format", "j0 j1 j2 j3 j4 j5 j6");
peiskmt_setStringTuple("jaco_current_pose.format", "x y z pitch yaw roll");
pthread_create(¤t_pose_publisher_thread_id_, NULL, &JointStateToPeis::current_pose_publisher_thread, (void *) this);
pthread_create(&joint_state_publisher_thread_id_, NULL, &JointStateToPeis::joint_state_publisher_thread, (void *) this);
ROS_INFO("Object created!");
}
int main(int argn, char** args, char** env) {
peiskmt_initialize(&argn, args, env);
// PeisSubscriberHandle s = peiskmt_subscribe(1, "Simple.Publisher_tuple");
struct simple p;
pthread_t id;
pthread_create(&id, NULL, &valueThread, &p);
printf("CALL\n");
//PeisCallbackHandle c;
peiskmt_registerMetaTupleCallback(1, "simple", &p, &callback);
int i = 20;
while(i--) {
sleep(1);
}
printf("NO CALL\n");
peiskmt_unregisterMetaTupleCallback(1, "simple");
i = 5;
while(i--) {
sleep(1);
}
printf("CALL AGAIN\n");
peiskmt_registerTupleCallback(1, "simple", &p, &callback);
i = 20;
while(i--) {
sleep(1);
}
printf("NO CALL AGAIN\n");
// peiskmt_unsubscribe(s);
pthread_join(id, NULL);
return 0;
}
int main(int argc,char **args)
{
char configfilename[MAXLENGTH];
char logfilename[MAXLENGTH];
FILE* logfile;
int skipHeader = 0;
char tuplename[MAXLENGTH];
int isRunning;
int element_ready;
PeisTuple* mytuple;
int i;
int ID, len;
char* value;
time_t now;
struct tm ts;
char date[MAXLENGTH];
float kernel_time;
// handlers
PeisSubscriberHandle subHandler[MAXKEYS];
PeisCallbackHandle callHandler[MAXKEYS];
// init isRunning
isRunning = 1;
// init the semaphore
pthread_mutex_init(&tuple_processing, NULL);
// init the tuple list
initializeList(&tuples);
// initial check for arguments
memcpy(configfilename, CONFIGFILE, strlen(CONFIGFILE)+1);
memcpy(logfilename, LOGFILE, strlen(CONFIGFILE)+1);
for ( i = 0; i < argc; i++ )
{
if (strcmp(args[i],"--help") == 0) { printUsage(stderr,argc,args); }
if (strcmp(args[i],"--conf") == 0) { memcpy(configfilename, args[i+1], strlen(args[i+1])+1); }
if (strcmp(args[i],"--log") == 0) { memcpy(logfilename, args[i+1], strlen(args[i+1])+1); }
if (strcmp(args[i],"--skip") == 0) { skipHeader = 1; }
}
// instantiate & initialize the PEIS component
peiskmt_initialize(&argc, args);
// prepare the header of the log file
// time: "ddd yyyy-mm-dd hh:mm:ss zzz"
time(&now);
ts = *localtime(&now);
strftime(date, sizeof(date), "%a %Y-%m-%d %H:%M:%S %Z", &ts);
kernel_time = peiskmt_gettimef();
// Printing the header for the log file
if (skipHeader == 0)
{
if( !(logfile = fopen(logfilename, "w") ) )
{
printf("Error opening the log file %s \n", logfilename);
isRunning = 0;
}
ID = peiskmt_peisid();
PeisTuple* kernelTuple = peiskmt_getTuple(ID,"kernel.version",PEISK_KEEP_OLD|PEISK_NON_BLOCKING);
fprintf(logfile, "; Kernel version %s\n", kernelTuple->data);
fprintf(logfile, "; peislogger version 1.0\n");
fprintf(logfile, "; starting at %f kernel time, %s\n", kernel_time, date);
fprintf(logfile, "%f\n", kernel_time);
fprintf(logfile, "; structure of recorded data:\n");
fprintf(logfile, "; kernel_ts,write_ts,user_ts,expire_ts,owner,creator,keyDepth,keys,datalenght,data\n");
fclose(logfile);
}
// Reading the keys of the tuples to subscribe
if (!readConfiguration(configfilename))
{
printf("Problem reading from configuration file %s \n", configfilename);
isRunning = 0;
}
// Subscribe to all the keys specified in the configuration file and attach a callback
for( i = 0 ; i < keyscounter ; i++)
{
printf("Subscribing to tuple: \"%s\" ", keys[i]);
printf("...");
subHandler[i] = peiskmt_subscribe(-1, keys[i]);
callHandler[i] = peiskmt_registerTupleCallback(-1, keys[i], NULL, (void*)eventCallback);
printf("DONE \n");
}
while( isRunning && peiskmt_isRunning() )
{
// get the tuple to write
// not very elegant, but this way I can use the semaphores
pthread_mutex_lock(&tuple_processing);
element_ready = isNotEmpty(&tuples);
pthread_mutex_unlock(&tuple_processing);
if(element_ready)
{
pthread_mutex_lock(&tuple_processing);
mytuple = getAndDeleteFirstElement(&tuples);
pthread_mutex_unlock(&tuple_processing);
peiskmt_printTuple(mytuple);
printf("\n");
if ( !(logfile = fopen(logfilename, "a") ) )
{
printf("Error appending to logfile file %s \n", logfilename);
exit(0);
}
peiskmt_getTupleName(mytuple, tuplename, sizeof(tuplename));
fprintf(logfile, "%f %d.%d %d.%d %d.%d %d %d %d %d %d %s %d %s\n",
peiskmt_gettimef(), mytuple->ts_write[0], mytuple->ts_write[1],
mytuple->ts_user[0], mytuple->ts_user[1], mytuple->ts_expire[0], mytuple->ts_expire[1],
mytuple->owner, mytuple->creator, mytuple->alloclen, mytuple->isNew, mytuple->keyDepth,
tuplename, strlen(mytuple->data)+1, (char*)mytuple->data);
fclose(logfile);
}
usleep(10000);
}
// unsubscribe
for( i = 0 ; i < keyscounter ; i++)
{
peiskmt_unsubscribe(subHandler[i]);
peiskmt_unregisterTupleCallback(callHandler[i]);
}
// free the memory of both the queue and the variables
peiskmt_freeTuple(mytuple);
emptyQueue(&tuples);
pthread_mutex_destroy(&tuple_processing);
peiskmt_shutdown();
}
