static void
read_parameters(int argc, char **argv)
{
carmen_param_allow_unfound_variables(1);
carmen_param_t param_list[] =
{
{(char *)"commandline", (char *)"map_path", CARMEN_PARAM_STRING, &map_path, 1, NULL},
{(char *)"commandline", (char *)"map_resolution", CARMEN_PARAM_DOUBLE, &map_resolution, 1, NULL},
{(char *)"commandline", (char *)"map_type", CARMEN_PARAM_STRING, &map_type, 1, NULL},
};
carmen_param_install_params(argc, argv, param_list, sizeof(param_list) / sizeof(param_list[0]));
}
void
read_parameters(int argc, char **argv)
{
carmen_param_t param_list[] = {
{(char *)"robot", (char *)"length", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.length, 1, NULL},
{(char *)"robot", (char *)"width", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.width, 1, NULL},
{(char *)"robot", (char *)"distance_between_rear_wheels", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.distance_between_rear_wheels, 1, NULL},
{(char *)"robot", (char *)"distance_between_front_and_rear_axles", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.distance_between_front_and_rear_axles, 1, NULL},
{(char *)"robot", (char *)"distance_between_front_car_and_front_wheels", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.distance_between_front_car_and_front_wheels, 1, NULL},
{(char *)"robot", (char *)"distance_between_rear_car_and_rear_wheels", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.distance_between_rear_car_and_rear_wheels, 1, NULL},
{(char *)"robot", (char *)"max_velocity", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.max_vel, 1, NULL},
{(char *)"robot", (char *)"max_steering_angle", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.max_phi, 1, NULL},
{(char *)"robot", (char *)"maximum_acceleration_forward", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.maximum_acceleration_forward, 1, NULL},
{(char *)"robot", (char *)"maximum_acceleration_reverse", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.maximum_acceleration_reverse, 1, NULL},
{(char *)"robot", (char *)"maximum_deceleration_forward", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.maximum_deceleration_forward, 1, NULL},
{(char *)"robot", (char *)"maximum_deceleration_reverse", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.maximum_deceleration_reverse, 1, NULL},
{(char *)"robot", (char *)"desired_decelaration_forward", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.desired_decelaration_forward, 1, NULL},
{(char *)"robot", (char *)"desired_decelaration_reverse", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.desired_decelaration_reverse, 1, NULL},
{(char *)"robot", (char *)"desired_acceleration", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.desired_acceleration, 1, NULL},
{(char *)"robot", (char *)"desired_steering_command_rate", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.desired_steering_command_rate, 1, NULL},
{(char *)"robot", (char *)"understeer_coeficient", CARMEN_PARAM_DOUBLE, &GlobalState::robot_config.understeer_coeficient, 1, NULL},
};
carmen_param_install_params(argc, argv, param_list, sizeof(param_list) / sizeof(param_list[0]));
GlobalState::param_max_vel = GlobalState::robot_config.max_vel;
//initialize default parameters values
GlobalState::cheat = 0;
GlobalState::timeout = 0.8;
GlobalState::distance_interval = 1.5;
GlobalState::plan_time = 0.08;
carmen_param_t optional_param_list[] = {
{(char *)"rrt", (char *)"cheat", CARMEN_PARAM_ONOFF, &GlobalState::cheat, 1, NULL},
{(char *)"rrt", (char *)"show_debug_info", CARMEN_PARAM_ONOFF, &GlobalState::show_debug_info, 1, NULL},
};
carmen_param_allow_unfound_variables(1);
carmen_param_install_params(argc, argv, optional_param_list, sizeof(optional_param_list) / sizeof(optional_param_list[0]));
read_parameters_specific(argc, argv);
}
int main(int argc, char **argv)
{
carmen_camera_image_t *image;
IPC_RETURN_TYPE err;
double interframe_sleep = 5.0;
int param_err;
/* connect to IPC server */
carmen_ipc_initialize(argc, argv);
carmen_param_check_version(argv[0]);
err = IPC_defineMsg(CARMEN_CAMERA_IMAGE_NAME, IPC_VARIABLE_LENGTH,
CARMEN_CAMERA_IMAGE_FMT);
carmen_test_ipc_exit(err, "Could not define", CARMEN_CAMERA_IMAGE_NAME);
carmen_param_allow_unfound_variables(0);
param_err = carmen_param_get_double("camera_interframe_sleep", &interframe_sleep, NULL);
if (param_err < 0)
carmen_die("Could not find parameter in carmen.ini file: camera_interframe_sleep\n");
image = carmen_camera_start(argc, argv);
if (image == NULL)
exit(-1);
signal(SIGINT, shutdown_module);
while(1) {
carmen_camera_grab_image(image);
if(image->is_new) {
carmen_camera_publish_image_message(image);
carmen_warn("c");
image->is_new = 0;
}
// We are rate-controlling the camera.
carmen_publish_heartbeat("camera_daemon");
carmen_ipc_sleep(interframe_sleep);
}
return 0;
}
void
read_parameters_specific(int argc, char **argv)
{
carmen_param_t optional_param_list[] = {
{(char *)"rrt", (char *)"rddf", CARMEN_PARAM_STRING, &GlobalState::rddf_path, 1, NULL},
{(char *)"rrt", (char *)"timeout", CARMEN_PARAM_DOUBLE, &GlobalState::timeout, 1, NULL},
{(char *)"rrt", (char *)"plan_time", CARMEN_PARAM_DOUBLE, &GlobalState::plan_time, 1, NULL},
{(char *)"rrt", (char *)"distance_interval", CARMEN_PARAM_DOUBLE, &GlobalState::distance_interval, 1, NULL},
{(char *)"rrt", (char *)"publish_lane_map", CARMEN_PARAM_ONOFF, &GlobalState::publish_lane_map, 1, NULL},
{(char *)"rrt", (char *)"publish_tree", CARMEN_PARAM_ONOFF, &GlobalState::publish_tree, 1, NULL},
{(char *)"rrt", (char *)"reuse_last_path", CARMEN_PARAM_ONOFF, &GlobalState::reuse_last_path, 1, NULL},
{(char *)"rrt", (char *)"obstacle_cost_distance", CARMEN_PARAM_DOUBLE, &GlobalState::obstacle_cost_distance, 1, NULL}
};
carmen_param_allow_unfound_variables(1);
carmen_param_install_params(argc, argv, optional_param_list, sizeof(optional_param_list) / sizeof(optional_param_list[0]));
GlobalState::param_distance_interval = GlobalState::distance_interval;
printf("show_debug_info=%d\npublish_lane_map=%d\npublish_tree=%d\n",
GlobalState::show_debug_info, GlobalState::publish_lane_map, GlobalState::publish_tree);
}
