void LaserTransform::checkConvergenceSpeed()
{
if (is_imu_connected)
{
int16_t ang_x, ang_y, ang_z;
imu_get_angular_velocity(&imu, &ang_x, &ang_y, &ang_z);
// Realistische Drehraten: Siehe IPython Notebook,
// Kapitel "Roll-/Pitch-/Yawrate"
// http://nbviewer.ipython.org/github/balzer82/ICINCO-2014/blob/master/Extended-Kalman-Filter-CTRV-Attitude.ipynb
if (ang_x > 5 || ang_x < -5 || ang_y > 5 || ang_y < -5 || ang_z > 5 || ang_z < -5)
{
// Fast turning: No Magnetic Field, just RotationRate
imu_set_convergence_speed(&imu, 0);
}
else
imu_set_convergence_speed(&imu, imu_convergence_speed);
}
}
void TinkerforgeSensors::callbackEnumerate(const char *uid, const char *connected_uid,
char position, uint8_t hardware_version[3],
uint8_t firmware_version[3], uint16_t device_identifier,
uint8_t enumeration_type, void *user_data)
{
TinkerforgeSensors *tfs = (TinkerforgeSensors*) user_data;
std::string topic("");
if(enumeration_type == IPCON_ENUMERATION_TYPE_DISCONNECTED)
{
return;
}
// search for predefined topic
for (std::vector<SensorConf>::iterator it = tfs->sensor_conf.begin(); it != tfs->sensor_conf.end(); ++it)
{
if (it->uid.compare((std::string)uid) == 0)
{
topic = it->topic;
break;
}
}
// check if device is an imu
if(device_identifier == IMU_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found IMU with UID:" << uid);
// Create IMU device object
IMU *imu = new IMU();
imu_create(imu, uid, &(tfs->ipcon));
imu_set_convergence_speed(imu,tfs->imu_convergence_speed);
imu_leds_on(imu);
tfs->imu_init_time = ros::Time::now();
SensorDevice *imu_dev = new SensorDevice(imu, uid, topic, IMU_DEVICE_IDENTIFIER, SensorClass::IMU, 10);
tfs->sensors.push_back(imu_dev);
}
else if (device_identifier == IMU_V2_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found IMU_v2 with UID:" << uid);
// Create IMU_v2 device object
IMUV2 *imu_v2 = new IMUV2();
imu_v2_create(imu_v2, uid, &(tfs->ipcon));
imu_leds_on(imu_v2);
SensorDevice *imu_dev = new SensorDevice(imu_v2, uid, topic, IMU_V2_DEVICE_IDENTIFIER, SensorClass::IMU, 10);
tfs->sensors.push_back(imu_dev);
imu_dev = new SensorDevice(imu_v2, uid, std::string(""), IMU_V2_MAGNETIC_DEVICE_IDENTIFIER, SensorClass::MAGNETIC, 10);
tfs->sensors.push_back(imu_dev);
return;
}
else if (device_identifier == GPS_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found GPS with UID:" << uid);
// Create GPS device object
GPS *gps = new GPS();
gps_create(gps, uid, &(tfs->ipcon));
SensorDevice *gps_dev = new SensorDevice(gps, uid, topic, GPS_DEVICE_IDENTIFIER, SensorClass::GPS, 10);
tfs->sensors.push_back(gps_dev);
}
else if (device_identifier == DUAL_BUTTON_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found DualButton with UID:" << uid);
DualButton *db = new DualButton();
dual_button_create(db, uid, &(tfs->ipcon));
SensorDevice *db_dev = new SensorDevice(db, uid, topic, DUAL_BUTTON_DEVICE_IDENTIFIER, SensorClass::MISC, 10);
tfs->sensors.push_back(db_dev);
}
else if (device_identifier == TEMPERATURE_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Temperature with UID:" << uid);
Temperature *temp = new Temperature();
// Create Temperature device object
temperature_create(temp, uid, &(tfs->ipcon));
SensorDevice *temp_dev = new SensorDevice(temp, uid, topic, TEMPERATURE_DEVICE_IDENTIFIER, SensorClass::TEMPERATURE, 10);
tfs->sensors.push_back(temp_dev);
}
else if (device_identifier == AMBIENT_LIGHT_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Ambient Light with UID:" << uid);
// Create Ambient Light device object
AmbientLight *ambient_light = new AmbientLight();
ambient_light_create(ambient_light, uid, &(tfs->ipcon));
SensorDevice *ambient_light_dev = new SensorDevice(ambient_light, uid, topic, AMBIENT_LIGHT_DEVICE_IDENTIFIER, SensorClass::LIGHT, 10);
tfs->sensors.push_back(ambient_light_dev);
}
else if (device_identifier == AMBIENT_LIGHT_V2_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Ambient Light v2 with UID:" << uid);
// Create Ambient Light device object
AmbientLightV2 *ambient_v2_light = new AmbientLightV2();
ambient_light_create(ambient_v2_light, uid, &(tfs->ipcon));
SensorDevice *ambient_light_v2_dev = new SensorDevice(ambient_v2_light, uid, topic, AMBIENT_LIGHT_V2_DEVICE_IDENTIFIER, SensorClass::LIGHT, 10);
tfs->sensors.push_back(ambient_light_v2_dev);
}
else if (device_identifier == DISTANCE_IR_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Distance IR with UID:" << uid);
// Create Distance IR device object
DistanceIR *distance_ir = new DistanceIR();
distance_ir_create(distance_ir, uid, &(tfs->ipcon));
SensorDevice *distance_ir_dev = new SensorDevice(distance_ir, uid, topic, DISTANCE_IR_DEVICE_IDENTIFIER, SensorClass::RANGE, 10);
tfs->sensors.push_back(distance_ir_dev);
}
else if (device_identifier == DISTANCE_US_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Distance US with UID:" << uid);
// Create Distance US device object
DistanceUS *distance_us = new DistanceUS();
distance_us_create(distance_us, uid, &(tfs->ipcon));
SensorDevice *distance_us_dev = new SensorDevice(distance_us, uid, topic, DISTANCE_US_DEVICE_IDENTIFIER, SensorClass::RANGE, 10);
tfs->sensors.push_back(distance_us_dev);
}
else if (device_identifier == MOTION_DETECTOR_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found Motion Detector with UID:" << uid);
// Create Motion Detector device object
MotionDetector * md = new MotionDetector();
motion_detector_create(md, uid, &(tfs->ipcon));
SensorDevice *md_dev = new SensorDevice(md, uid, topic, MOTION_DETECTOR_DEVICE_IDENTIFIER, SensorClass::MISC, 10);
tfs->sensors.push_back(md_dev);
}
}
void LaserTransform::callbackEnumerate(const char *uid, const char *connected_uid,
char position, uint8_t hardware_version[3],
uint8_t firmware_version[3], uint16_t device_identifier,
uint8_t enumeration_type, void *user_data)
{
LaserTransform *lt = (LaserTransform*) user_data;
if(enumeration_type == IPCON_ENUMERATION_TYPE_DISCONNECTED)
{
return;
}
// check if device is an imu
if(device_identifier == IMU_DEVICE_IDENTIFIER)
{
if (lt->is_imu_v2_connected)
return;
ROS_INFO_STREAM("found IMU with UID:" << uid);
// Create IMU device object
imu_create(&(lt->imu), uid, &(lt->ipcon));
imu_set_convergence_speed(&(lt->imu),lt->imu_convergence_speed);
imu_leds_on(&(lt->imu));
lt->imu_init_time = ros::Time::now();
lt->is_imu_connected = true;
}
else if (device_identifier == IMU_V2_DEVICE_IDENTIFIER)
{
if (lt->is_imu_connected)
return;
ROS_INFO_STREAM("found IMU_v2 with UID:" << uid);
// Create IMU_v2 device object
imu_v2_create(&(lt->imu_v2), uid, &(lt->ipcon));
imu_leds_on(&(lt->imu_v2));
lt->is_imu_v2_connected = true;
}
else if (device_identifier == GPS_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found GPS with UID:" << uid);
// Create GPS device object
gps_create(&(lt->gps), uid, &(lt->ipcon));
lt->is_gps_connected = true;
}
else if (device_identifier == INDUSTRIAL_DIGITAL_IN_4_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found IDI4 with UID:" << uid);
// Create IndustrialDigitalIn4 device object
industrial_digital_in_4_create(&(lt->idi4), uid, &(lt->ipcon));
// Register callback for interrupts
industrial_digital_in_4_register_callback(&(lt->idi4),
INDUSTRIAL_DIGITAL_IN_4_CALLBACK_INTERRUPT,
(void*)callbackIdi4,
lt);
// set debounce period
industrial_digital_in_4_set_debounce_period(&(lt->idi4),10);
// Enable interrupt on pin 0
industrial_digital_in_4_set_interrupt(&(lt->idi4), 1 << 0);
lt->is_idi4_connected = true;
}
else if (device_identifier == DUAL_BUTTON_DEVICE_IDENTIFIER)
{
ROS_INFO_STREAM("found DualButton with UID:" << uid);
dual_button_create(&(lt->db), uid, &(lt->ipcon));
// Register state changed callback to function cb_state_changed
dual_button_register_callback(&(lt->db),
DUAL_BUTTON_CALLBACK_STATE_CHANGED,
(void *)callbackDb,
lt);
}
}