LinQedInLoginController::LinQedInLoginController():model(new LinQedInLogin()), view(new LinQedInLoginView())
{
//inizializzo il controllore
initController();
}
LinQedInLoginController::LinQedInLoginController(LinQedInLogin* m, LinQedInLoginView* v):model(m),view(v)
{
//inizializzo il controllore
initController();
}
void hbl2350::onTimer(const ros::TimerEvent& e)
{
if(initialised)
{
if(!idle)
{
if(deadman_active && cmd_vel_active)
{
if((ros::Time::now() - last_deadman_received) > max_time_diff )
{
ROS_WARN_THROTTLE(1,"shutting down due to deadman");
deadman_active = false;
velocity_ch1 = velocity_ch2 = 0;
}
if(( ros::Time::now() - last_twist_received_ch1) > max_time_diff)
{
ROS_WARN_THROTTLE(1,"Shutting down due to out of date cmd_vel on ch1");
velocity_ch1 = velocity_ch2 = 0;
cmd_vel_active = false;
}
if(( ros::Time::now() - last_twist_received_ch2) > max_time_diff)
{
ROS_WARN_THROTTLE(1,"Shutting down due to out of date cmd_vel on ch2");
velocity_ch1 = velocity_ch2 = 0;
cmd_vel_active = false;
}
if(ros::Time::now() - last_serial_msg > max_time_diff)
{
ROS_WARN("Lost connection to RoboTeq - shutting down");
velocity_ch1 = velocity_ch2 = 0;
initialised = false;
}
if(deadman_active && cmd_vel_active && initialised)
{
int out_ch1 = (velocity_ch1*velocity_max)/max_rpm,
out_ch2 = (velocity_ch2*velocity_max)/max_rpm;
if(out_ch1 < - velocity_max)
out_ch1 = -velocity_max;
else if(out_ch1 > velocity_max)
out_ch1 = velocity_max;
if(out_ch2 < - velocity_max)
out_ch2 = -velocity_max;
else if(out_ch2 > velocity_max)
out_ch2 = velocity_max;
transmit(3,"!G",1,out_ch1);
transmit(3,"!G",2,out_ch2);
}
}
else
{
transmit(3,"!G",1,0);
transmit(3,"!G",2,0);
idle = true;
}
}
else
{
if(ros::Time::now() - last_serial_msg < max_time_diff)
idle = false;
}
}
else
{
if(online)
{
initController();
}
else
{
ROS_WARN_THROTTLE(1,"Controller not online");
transmit(1,"?FID");
}
}
}