odcore::data::dmcp::ModuleExitCodeMessage::ModuleExitCode Overtake::body() {
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == odcore::data::dmcp::ModuleStateMessage::RUNNING) {
// 1. Get most recent vehicle data:
Container containerVehicleData = getKeyValueDataStore().get(automotive::VehicleData::ID());
VehicleData vd = containerVehicleData.getData<VehicleData> ();
// 2. Get most recent sensor board data describing virtual sensor data:
Container containerSensorBoardData = getKeyValueDataStore().get(automotive::miniature::SensorBoardData::ID());
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
// Create vehicle control data.
VehicleControl vc;
cout << "Overtake: " << vd.getSpeed() << endl;
cout << "This is the amount of sensors: " << sbd.getNumberOfSensors() << endl;
// Create container for finally sending the data.
//Container c(Container::VEHICLECONTROL, vc);
// Send container.
//getConference().send(c);
cout << "This is printed" << endl;
}
return odcore::data::dmcp::ModuleExitCodeMessage::OKAY;
}
odcore::data::dmcp::ModuleExitCodeMessage::ModuleExitCode ViewLiveData::body() {
// Parameters for overtaking.
// const int32_t ULTRASONIC_FRONT_CENTER = 3;
// const int32_t ULTRASONIC_FRONT_RIGHT = 4;
// const int32_t INFRARED_FRONT_RIGHT = 0;
const int32_t INFRARED_REAR_RIGHT = 2;
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == odcore::data::dmcp::ModuleStateMessage::RUNNING) {
Container containerSensorBoardData = getKeyValueDataStore().get(automotive::miniature::SensorBoardData::ID());
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
cout << "Most value of infrared rear right: '" << sbd.getValueForKey_MapOfDistances(INFRARED_REAR_RIGHT) << "'" << endl;
double distance = sbd.getValueForKey_MapOfDistances(INFRARED_REAR_RIGHT);
if(distance > 3){
distance = 0;
}
sbd.putTo_MapOfDistances(INFRARED_REAR_RIGHT, distance + 0.01 );
cout << "NEXT value of infrared rear right: '" << sbd.getValueForKey_MapOfDistances(INFRARED_REAR_RIGHT) << "'" << endl;
Container c(sbd);
getConference().send(c);
cout << "done." << endl;
}
return odcore::data::dmcp::ModuleExitCodeMessage::OKAY;
}
/* ----------------------------------- Data ---------------------------- */
void AutodriveSim::updateAutodriveData(){
// Vehicle data
Container containerVehicleData = getKeyValueDataStore().get(Container::VEHICLEDATA);
VehicleData vd = containerVehicleData.getData<VehicleData> ();
// Sensor board data
Container containerSensorBoardData = getKeyValueDataStore().get(Container::USER_DATA_0);
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
// Assigning the values of the sensors
Autodrive::SensorData::infrared.frontright = sbd.getMapOfDistances()[0];
Autodrive::SensorData::infrared.rear = sbd.getMapOfDistances()[1];
Autodrive::SensorData::infrared.rearright = sbd.getMapOfDistances()[2];
Autodrive::SensorData::ultrasound.front = sbd.getMapOfDistances()[3];
Autodrive::SensorData::ultrasound.frontright = sbd.getMapOfDistances()[4];
Autodrive::SensorData::ultrasound.rear = sbd.getMapOfDistances()[5];
// Assigning the values of the vehicle
Autodrive::SensorData::encoderPulses = vd.getAbsTraveledPath();
Autodrive::SensorData::gyroHeading = vd.getHeading() * Constants::RAD2DEG;
}
// This method will do the main data processing job.
coredata::dmcp::ModuleExitCodeMessage::ModuleExitCode BoxParker::body() {
double distanceOld = 0;
double absPathStart = 0;
double absPathEnd = 0;
int stageMoving = 0;
int stageMeasuring = 0;
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == coredata::dmcp::ModuleStateMessage::RUNNING) {
// 1. Get most recent vehicle data:
Container containerVehicleData = getKeyValueDataStore().get(Container::VEHICLEDATA);
VehicleData vd = containerVehicleData.getData<VehicleData> ();
// 2. Get most recent sensor board data describing virtual sensor data:
Container containerSensorBoardData = getKeyValueDataStore().get(Container::USER_DATA_0);
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
// Create vehicle control data.
VehicleControl vc;
// Moving state machine.
if (stageMoving == 0) {
// Go forward.
vc.setSpeed(1);
vc.setSteeringWheelAngle(0);
}
if ((stageMoving > 0) && (stageMoving < 20)) {
// Move slightly forward.
vc.setSpeed(1);
vc.setSteeringWheelAngle(0);
stageMoving++;
}
if ((stageMoving >= 20) && (stageMoving < 25)) {
// Stop.
vc.setSpeed(0);
vc.setSteeringWheelAngle(0);
stageMoving++;
}
if ((stageMoving >= 25) && (stageMoving < 80)) {
// Backwards, steering wheel to the right.
vc.setSpeed(-2);
vc.setSteeringWheelAngle(25);
stageMoving++;
}
if (stageMoving >= 80) {
// Stop.
vc.setSpeed(0);
vc.setSteeringWheelAngle(0);
stageMoving++;
}
if (stageMoving >= 150) {
// End component.
break;
}
// Measuring state machine.
switch (stageMeasuring) {
case 0:
{
// Initialize measurement.
distanceOld = sbd.getValueForKey_MapOfDistances(2);
stageMeasuring++;
}
break;
case 1:
{
// Checking for distance sequence +, -.
if ((distanceOld > 0) && (sbd.getValueForKey_MapOfDistances(2) < 0)) {
// Found distance sequence +, -.
stageMeasuring = 2;
absPathStart = vd.getAbsTraveledPath();
}
distanceOld = sbd.getValueForKey_MapOfDistances(2);
}
break;
case 2:
{
// Checking for distance sequence -, +.
if ((distanceOld < 0) && (sbd.getValueForKey_MapOfDistances(2) > 0)) {
// Found distance sequence -, +.
stageMeasuring = 1;
absPathEnd = vd.getAbsTraveledPath();
const double GAP_SIZE = (absPathEnd - absPathStart);
cerr << "Size = " << GAP_SIZE << endl;
m_foundGaps.push_back(GAP_SIZE);
if ((stageMoving < 1) && (GAP_SIZE > 3.5)) {
stageMoving = 1;
}
}
distanceOld = sbd.getValueForKey_MapOfDistances(2);
}
break;
}
// Create container for finally sending the data.
Container c(Container::VEHICLECONTROL, vc);
// Send container.
getConference().send(c);
}
return coredata::dmcp::ModuleExitCodeMessage::OKAY;
}
// This method will do the main data processing job.
ModuleState::MODULE_EXITCODE Proxy::body() {
uint32_t captureCounter = 0;
SensorBoardData sensorBoardData;
core::data::environment::VehicleData vd;
while (getModuleState() == ModuleState::RUNNING) {
// Capture frame.
if (m_camera != NULL) {
core::data::image::SharedImage si = m_camera->capture();
Container c(Container::SHARED_IMAGE, si);
distribute(c);
captureCounter++;
}
Container containerVehicleControl = getKeyValueDataStore().get(Container::VEHICLECONTROL);
VehicleControl vc = containerVehicleControl.getData<VehicleControl> ();
cerr << "Speed data: " << vc.getSpeed() << endl;
cout << "Angle : " << vc.getSteeringWheelAngle()<<endl;
// TODO: Here, you need to implement the data links to the embedded system
// to read data from IR/US.
int angle=60;
int angleFromDriver= (int)vc.getSteeringWheelAngle(); // receive steeringaAngle from VehicleControl
//convert the angle for arduino
if(angleFromDriver <0)
angleFromDriver*=-1;
else
angleFromDriver*=-1;
angle+=angleFromDriver;
stringstream ss;
ss << angle;
if(angle<100 && angle >10)
convertedAngle="0"+ss.str();
else if(angle <10 && angle>-1)
convertedAngle="00"+ss.str();
else
convertedAngle=ss.str();
// send different values depending on drivers speed
if(vc.getSpeed()>0)
userInput="600"+convertedAngle+",";
else if(vc.getSpeed()<1 && vc.getSpeed()>-1)
userInput="512"+convertedAngle+",";
else if(vc.getSpeed()<-1)
userInput="200"+convertedAngle+",";
cout<<userInput<<endl;
if(wd!=-1 && wd!=0)
msv::write(userInput); // write to arduino
if(fd!=-1 && fd!=0){
readings=msv::read(); // read from arduino
cout<< "readings are "<< readings << endl;
int length=atoi(readings.substr(0,2).c_str());
unsigned int finalLength=length+5; // check length
//decode netstring received from arduino
if(readings.length()==finalLength){
string ir1=readings.substr(3,3);
valIr1=atoi(ir1.c_str());
string ir2=readings.substr(6,3);
valIr2=atoi(ir2.c_str());
string ir3=readings.substr(9,3);
valIr3=atoi(ir3.c_str());
string us1=readings.substr(12,3);
valUs1=atoi(us1.c_str());
string us2=readings.substr(15,3);
valUs2=atoi(us2.c_str());
string us3=readings.substr(18,3);
valUs3=atoi(us3.c_str());
string wheelE=readings.substr(21,length-18);
valWheelE=atoi(wheelE.c_str());
}
cout<<"Wheel Encoder value " << valWheelE <<endl;
//Map decoded sensor values
sensorBoardData.putTo_MapOfDistances(4,valUs2);
sensorBoardData.putTo_MapOfDistances(3,valUs3);
sensorBoardData.putTo_MapOfDistances(1,valIr3);
sensorBoardData.putTo_MapOfDistances(2,valIr2);
sensorBoardData.putTo_MapOfDistances(0,valIr1);
sensorBoardData.putTo_MapOfDistances(5,valUs1);
vd.setAbsTraveledPath(valWheelE);
Container Pvd=Container(Container::VEHICLEDATA, vd);
Container c = Container(Container::USER_DATA_0, sensorBoardData);
distribute(c);
distribute(Pvd);
tcflush(fd, TCIFLUSH);
}
if(wd!=-1 && wd!=0)
tcflush(wd, TCOFLUSH);
//usleep(2000000);
}
if(wd!=-1 && wd!=0){
msv::write("512060,");
msv::close(wd);
}
if(fd!=-1 && fd!=0)
msv::close(fd);
cout << "Proxy: Captured " << captureCounter << " frames." << endl;
return ModuleState::OKAY;
}
// Distribute SensorBoardData. Takes a string as input.
void Proxy::sbdDistribute(const string decodedData){
SensorBoardData sbd;
int irFrontRight;
int irRearRight;
int irRearCenter;
int usFrontCenter;
int usFrontRight;
bool converted = false;
size_t index1 = decodedData.find("IRFR");
size_t index2 = decodedData.find("IRRR");
size_t index3 = decodedData.find("IRRC");
size_t index4 = decodedData.find("USF");
size_t index5 = decodedData.find("USR");
try {
irFrontRight = stoi(decodedData.substr(index1 + 4));
irRearRight = stoi(decodedData.substr(index2 + 4));
irRearCenter = stoi(decodedData.substr(index3 + 4));
usFrontCenter = stoi(decodedData.substr(index4 + 3));
usFrontRight = stoi(decodedData.substr(index5 + 3));
converted = true;
}
catch (std::invalid_argument&){
cerr << "STOI: Invalid Arguments." << endl;
}
catch (std::out_of_range&){
cerr << "STOI: Out of range." << endl;
}
if (converted){
sbd.putTo_MapOfDistances(0, irFrontRight);
sbd.putTo_MapOfDistances(1, irRearRight);
sbd.putTo_MapOfDistances(2, irRearCenter);
sbd.putTo_MapOfDistances(3, usFrontCenter);
sbd.putTo_MapOfDistances(4, usFrontRight);
converted = false;
}
cout << "irFrontRight: " << sbd.getValueForKey_MapOfDistances(0) << endl;
cout << "irRearRight: " << sbd.getValueForKey_MapOfDistances(1) << endl;
cout << "irRearCenter: " << sbd.getValueForKey_MapOfDistances(2) << endl;
cout << "usFrontCenter: " << sbd.getValueForKey_MapOfDistances(3) << endl;
cout << "usFrontRight: " << sbd.getValueForKey_MapOfDistances(4) << endl;
Container c2(sbd);
getConference().send(c2);
}
void LaneFollower::measuringMachine() {
const int32_t ULTRASONIC_FRONT_CENTER = 3;
const int32_t ULTRASONIC_FRONT_RIGHT = 4;
const int32_t INFRARED_FRONT_RIGHT = 0;
const int32_t INFRARED_REAR_RIGHT = 2;
const double OVERTAKING_DISTANCE = 6; //use 6
const double HEADING_PARALLEL = 0.01;
// 1. Get most recent vehicle data:
Container containerVehicleData = getKeyValueDataStore().get(VehicleData::ID());
VehicleData vd = containerVehicleData.getData<VehicleData> ();
// 2. Get most recent sensor board data:
Container containerSensorBoardData = getKeyValueDataStore().get(automotive::miniature::SensorBoardData::ID());
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
if (stageMeasuring == FIND_OBJECT_INIT) {
distanceToObstacleOld = sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_CENTER);
stageMeasuring = FIND_OBJECT;
}
else if (stageMeasuring == FIND_OBJECT) {
distanceToObstacle = sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_CENTER);
// Approaching an obstacle (stationary or driving slower than us).
if ( (distanceToObstacle > 0) && (((distanceToObstacleOld - distanceToObstacle) > 0) || (fabs(distanceToObstacleOld - distanceToObstacle) < 1e-2)) ) {
// Check if overtaking shall be started.
stageMeasuring = FIND_OBJECT_PLAUSIBLE;
}
distanceToObstacleOld = distanceToObstacle;
}
else if (stageMeasuring == FIND_OBJECT_PLAUSIBLE) {
if (sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_CENTER) < OVERTAKING_DISTANCE && distanceToObstacleOld < OVERTAKING_DISTANCE ) {
stageMoving = TO_LEFT_LANE_LEFT_TURN;
overtake = true;
cerr << "===========================OVERTAKE==================" << endl;
// Disable measuring until requested from moving state machine again.
stageMeasuring = DISABLE;
}
else {
stageMeasuring = FIND_OBJECT;
}
}
else if (stageMeasuring == HAVE_BOTH_IR) {
// Remain in this stage until both IRs see something.
if ( (sbd.getValueForKey_MapOfDistances(INFRARED_FRONT_RIGHT) > 0) && (sbd.getValueForKey_MapOfDistances(INFRARED_REAR_RIGHT) > 0) ) {
// Turn to right.
stageMoving = TO_LEFT_LANE_RIGHT_TURN;
}
}
else if (stageMeasuring == HAVE_BOTH_IR_SAME_DISTANCE) {
// Remain in this stage until both IRs have the similar distance to obstacle (i.e. turn car)
// and the driven parts of the turn are plausible.
const double IR_FR = sbd.getValueForKey_MapOfDistances(INFRARED_FRONT_RIGHT);
const double IR_RR = sbd.getValueForKey_MapOfDistances(INFRARED_REAR_RIGHT);
if ((fabs(IR_FR - IR_RR) < HEADING_PARALLEL) && ((stageToRightLaneLeftTurn - stageToRightLaneRightTurn) > 20)) {
// Straight forward again.
stageMoving = CONTINUE_ON_LEFT_LANE;
}
}
else if (stageMeasuring == END_OF_OBJECT) {
// Find end of object.
distanceToObstacleOld = distanceToObstacle;
distanceToObstacle = sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_RIGHT);
if (distanceToObstacle < 0 && distanceToObstacleOld < 0) {
// Move to right lane again.
stageMoving = TO_RIGHT_LANE_RIGHT_TURN;
// Disable measuring until requested from moving state machine again.
stageMeasuring = DISABLE;
}
}
}
// This method will do the main data processing job.
coredata::dmcp::ModuleExitCodeMessage::ModuleExitCode Overtaker::body() {
const int32_t ULTRASONIC_FRONT_CENTER = 3;
const int32_t ULTRASONIC_FRONT_RIGHT = 4;
const int32_t INFRARED_FRONT_RIGHT = 0;
const int32_t INFRARED_REAR_RIGHT = 2;
const double OVERTAKING_DISTANCE = 5.5;
const double HEADING_PARALLEL = 0.04;
// Overall state machines for moving and measuring.
enum StateMachineMoving { FORWARD, TO_LEFT_LANE_LEFT_TURN, TO_LEFT_LANE_RIGHT_TURN, CONTINUE_ON_LEFT_LANE, TO_RIGHT_LANE_RIGHT_TURN, TO_RIGHT_LANE_LEFT_TURN };
enum StateMachineMeasuring { DISABLE, FIND_OBJECT_INIT, FIND_OBJECT, FIND_OBJECT_PLAUSIBLE, HAVE_BOTH_IR, HAVE_BOTH_IR_SAME_DISTANCE, END_OF_OBJECT };
StateMachineMoving stageMoving = FORWARD;
StateMachineMeasuring stageMeasuring = FIND_OBJECT_INIT;
// State counter for dynamically moving back to right lane.
int32_t stageToRightLaneRightTurn = 0;
int32_t stageToRightLaneLeftTurn = 0;
// Distance variables to ensure we are overtaking only stationary or slowly driving obstacles.
double distanceToObstacle = 0;
double distanceToObstacleOld = 0;
while (getModuleStateAndWaitForRemainingTimeInTimeslice() == coredata::dmcp::ModuleStateMessage::RUNNING) {
// 1. Get most recent vehicle data:
Container containerVehicleData = getKeyValueDataStore().get(Container::VEHICLEDATA);
VehicleData vd = containerVehicleData.getData<VehicleData> ();
// 2. Get most recent sensor board data:
Container containerSensorBoardData = getKeyValueDataStore().get(Container::USER_DATA_0);
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
// Create vehicle control data.
VehicleControl vc;
// Moving state machine.
if (stageMoving == FORWARD) {
// Go forward.
vc.setSpeed(2);
vc.setSteeringWheelAngle(0);
stageToRightLaneLeftTurn = 0;
stageToRightLaneRightTurn = 0;
}
else if (stageMoving == TO_LEFT_LANE_LEFT_TURN) {
// Move to the left lane: Turn left part until both IRs see something.
vc.setSpeed(1);
vc.setSteeringWheelAngle(-25);
// State machine measuring: Both IRs need to see something before leaving this moving state.
stageMeasuring = HAVE_BOTH_IR;
stageToRightLaneRightTurn++;
}
else if (stageMoving == TO_LEFT_LANE_RIGHT_TURN) {
// Move to the left lane: Turn right part until both IRs have the same distance to obstacle.
vc.setSpeed(1);
vc.setSteeringWheelAngle(25);
// State machine measuring: Both IRs need to have the same distance before leaving this moving state.
stageMeasuring = HAVE_BOTH_IR_SAME_DISTANCE;
stageToRightLaneLeftTurn++;
}
else if (stageMoving == CONTINUE_ON_LEFT_LANE) {
// Move to the left lane: Passing stage.
vc.setSpeed(2);
vc.setSteeringWheelAngle(0);
// Find end of object.
stageMeasuring = END_OF_OBJECT;
}
else if (stageMoving == TO_RIGHT_LANE_RIGHT_TURN) {
// Move to the right lane: Turn right part.
vc.setSpeed(1.5);
vc.setSteeringWheelAngle(25);
stageToRightLaneRightTurn--;
if (stageToRightLaneRightTurn == 0) {
stageMoving = TO_RIGHT_LANE_LEFT_TURN;
}
}
else if (stageMoving == TO_RIGHT_LANE_LEFT_TURN) {
// Move to the left lane: Turn left part.
vc.setSpeed(.9);
vc.setSteeringWheelAngle(-25);
stageToRightLaneLeftTurn--;
if (stageToRightLaneLeftTurn == 0) {
// Start over.
stageMoving = FORWARD;
stageMeasuring = FIND_OBJECT_INIT;
distanceToObstacle = 0;
distanceToObstacleOld = 0;
}
}
// Measuring state machine.
if (stageMeasuring == FIND_OBJECT_INIT) {
distanceToObstacleOld = sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_CENTER);
stageMeasuring = FIND_OBJECT;
}
else if (stageMeasuring == FIND_OBJECT) {
distanceToObstacle = sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_CENTER);
// Approaching an obstacle (stationary or driving slower than us).
if ( (distanceToObstacle > 0) && (((distanceToObstacleOld - distanceToObstacle) > 0) || (fabs(distanceToObstacleOld - distanceToObstacle) < 1e-2)) ) {
// Check if overtaking shall be started.
stageMeasuring = FIND_OBJECT_PLAUSIBLE;
}
distanceToObstacleOld = distanceToObstacle;
}
else if (stageMeasuring == FIND_OBJECT_PLAUSIBLE) {
if (sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_CENTER) < OVERTAKING_DISTANCE) {
stageMoving = TO_LEFT_LANE_LEFT_TURN;
// Disable measuring until requested from moving state machine again.
stageMeasuring = DISABLE;
}
else {
stageMeasuring = FIND_OBJECT;
}
}
else if (stageMeasuring == HAVE_BOTH_IR) {
// Remain in this stage until both IRs see something.
if ( (sbd.getValueForKey_MapOfDistances(INFRARED_FRONT_RIGHT) > 0) && (sbd.getValueForKey_MapOfDistances(INFRARED_REAR_RIGHT) > 0) ) {
// Turn to right.
stageMoving = TO_LEFT_LANE_RIGHT_TURN;
}
}
else if (stageMeasuring == HAVE_BOTH_IR_SAME_DISTANCE) {
// Remain in this stage until both IRs have the similar distance to obstacle (i.e. turn car)
// and the driven parts of the turn are plausible.
const double IR_FR = sbd.getValueForKey_MapOfDistances(INFRARED_FRONT_RIGHT);
const double IR_RR = sbd.getValueForKey_MapOfDistances(INFRARED_REAR_RIGHT);
if ((fabs(IR_FR - IR_RR) < HEADING_PARALLEL) && ((stageToRightLaneLeftTurn - stageToRightLaneRightTurn) > 0)) {
// Straight forward again.
stageMoving = CONTINUE_ON_LEFT_LANE;
}
}
else if (stageMeasuring == END_OF_OBJECT) {
// Find end of object.
distanceToObstacle = sbd.getValueForKey_MapOfDistances(ULTRASONIC_FRONT_RIGHT);
if (distanceToObstacle < 0) {
// Move to right lane again.
stageMoving = TO_RIGHT_LANE_RIGHT_TURN;
// Disable measuring until requested from moving state machine again.
stageMeasuring = DISABLE;
}
}
// Create container for finally sending the data.
Container c(Container::VEHICLECONTROL, vc);
// Send container.
getConference().send(c);
}
return coredata::dmcp::ModuleExitCodeMessage::OKAY;
}
int Proxy::processCarString(const string &s){
// Load configuration
// TODO move it?
KeyValueConfiguration kv = getKeyValueConfiguration();
// TODO Use vectors and sensor_count ?(tokens[5] and arr_size)
const uint32_t sensor_count = kv.getValue<uint32_t>("proxy.numberOfSensors");
const uint LENGTH_RULE = kv.getValue<uint>("proxy.arduinoStringLength");
const string sensor0_token = kv.getValue<string>("proxy.sensor0.token");
const string sensor1_token = kv.getValue<string>("proxy.sensor1.token");
const string sensor2_token = kv.getValue<string>("proxy.sensor2.token");
const string sensor3_token = kv.getValue<string>("proxy.sensor3.token");
const string sensor4_token = kv.getValue<string>("proxy.sensor4.token");
const int sensor0_id = kv.getValue<int>("proxy.sensor0.id");;
const int sensor1_id = kv.getValue<int>("proxy.sensor1.id");;
const int sensor2_id = kv.getValue<int>("proxy.sensor2.id");;
const int sensor3_id = kv.getValue<int>("proxy.sensor3.id");;
const int sensor4_id = kv.getValue<int>("proxy.sensor4.id");;
string payload = s;
// Use tokens[sensor_count] instead of tokens[5]. Need to learn vector and its operators.
string tokens[5] = {sensor0_token, sensor1_token, sensor2_token, sensor3_token, sensor4_token};
int arr_size = sizeof(tokens)/sizeof(tokens[0]);
size_t idx;
int i;
int digits;
int problem;
Container containerSensorBoardData = getKeyValueDataStore().get(automotive::miniature::SensorBoardData::ID());
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
// Set the number of sensors to sensor_count
sbd.setNumberOfSensors(sensor_count);
// Check length
if(payload.length() != LENGTH_RULE){
//cout << "BAD LENGTH SHOULD FAIL" << endl;
}
// For each token
for(i=0;i<arr_size;i++){
problem = 0;
string key = payload.substr(0,tokens[i].length());
//cout << i << ". Token=" << tokens[i] << " key=" << key << endl;
if(key == tokens[i]){
payload = payload.substr(tokens[i].length()+1,string::npos); // Remove token and space
try {
digits = stoi(payload, &idx, 10); // get number
} catch (...) {
problem = 1;
}
} else {
return -2;
}
// TODO fix ifs
if(!problem){
// Add to SBD
//cout << "We parsed token:" << tokens[i] << " and got value:" << digits << endl;
if(tokens[i] == sensor0_token){
sbd.putTo_MapOfDistances(sensor0_id, digits);
} else
if(tokens[i] == sensor1_token){
sbd.putTo_MapOfDistances(sensor1_id, digits);
} else
if(tokens[i] == sensor2_token){
sbd.putTo_MapOfDistances(sensor2_id, digits );
} else
if(tokens[i] == sensor3_token){
sbd.putTo_MapOfDistances(sensor3_id, digits );
} else
if(tokens[i] == sensor4_token){
sbd.putTo_MapOfDistances(sensor4_id, digits );
}
if(i < arr_size - 1){
payload = payload.substr(idx + 1,string::npos); // We need to remove digit values + a space
} else {
payload = payload.substr(idx,string::npos); // We only need to remove digit values
}
} else {
return -3;
}
}
if(payload.length() == 0){
//cout << "Finished parsing: " << sbd.toString() << endl;
// TODO Invoke something with SBD instead of sending it from here.
Container sbdc(sbd);
getConference().send(sbdc);
return 1;
} else {
return 0; // TO DO: Should never happen check
}
}
// This method will do the main data processing job.
ModuleState::MODULE_EXITCODE Driver::body() {
std::ofstream myFile("sensors.bin", ios::binary);
while (getModuleState() == ModuleState::RUNNING) {
// In the following, you find example for the various data sources that are available:
// 1. Get most recent vehicle data:
Container containerVehicleData = getKeyValueDataStore().get(Container::VEHICLEDATA);
VehicleData vd = containerVehicleData.getData<VehicleData> ();
// cerr << "Most recent vehicle data: '" << vd.toString() << "'" << endl;
// 2. Get most recent sensor board data:
Container containerSensorBoardData = getKeyValueDataStore().get(Container::USER_DATA_0);
SensorBoardData sbd = containerSensorBoardData.getData<SensorBoardData> ();
timeval time;
string test;
stringstream teststream;
double val = sbd.getDistance(0);
myFile.write((char*)&val, sizeof(val));
val = sbd.getDistance(1);
myFile.write((char*)&val, sizeof(val));
val = sbd.getDistance(2);
myFile.write((char*)&val, sizeof(val));
val = sbd.getDistance(3);
myFile.write((char*)&val, sizeof(val));
val = sbd.getDistance(4);
myFile.write((char*)&val, sizeof(val));
gettimeofday(&time, NULL);
unsigned long millis = (time.tv_usec / 1000);
teststream << millis;
if (millis < 10){
test = remove_letter(currentDateTime(), ':') + "00" + teststream.str();
}
else if (millis < 100 and millis >= 10) {
test = remove_letter(currentDateTime(), ':') + "0" + teststream.str();
}
else {
test = remove_letter(currentDateTime(), ':') + teststream.str();
}
cerr << test << endl;
int timestamp;
timestamp = atoi(test.c_str());
myFile.write((char*)×tamp, sizeof(timestamp));
// 3. Get most recent user button data:
Container containerUserButtonData = getKeyValueDataStore().get(Container::USER_BUTTON);
UserButtonData ubd = containerUserButtonData.getData<UserButtonData> ();
// cerr << "Most recent user button data: '" << ubd.toString() << "'" << endl;
// 4. Get most recent steering data as fill from lanedetector for example:
Container containerSteeringData = getKeyValueDataStore().get(Container::USER_DATA_1);
SteeringData sd = containerSteeringData.getData<SteeringData> ();
// cerr << "Most recent steering data: '" << sd.toString() << "'" << endl;
// Design your control algorithm here depending on the input data from above.
// Create vehicle control data.
VehicleControl vc;
// With setSpeed you can set a desired speed for the vehicle in the range of -2.0 (backwards) .. 0 (stop) .. +2.0 (forwards)
vc.setSpeed(1.5);
// With setSteeringWheelAngle, you can steer in the range of -26 (left) .. 0 (straight) .. +25 (right)
double desiredSteeringWheelAngle = 0; // 4 degree but SteeringWheelAngle expects the angle in radians!
vc.setSteeringWheelAngle(desiredSteeringWheelAngle * Constants::DEG2RAD);
// You can also turn on or off various lights:
vc.setBrakeLights(false);
vc.setLeftFlashingLights(false);
vc.setRightFlashingLights(true);
// Create container for finally sending the data.
Container c(Container::VEHICLECONTROL, vc);
// Send container.
getConference().send(c);
}
myFile.close();
return ModuleState::OKAY;
}