void processSerialCallback(const msgs::serial::ConstPtr& rx_msg)
{
boost::char_separator<char> sep("$*,");
tokenizer::iterator tok_iter;
tokenizer tokens(rx_msg->data, sep);
if(tokens.begin() != tokens.end())
{
tok_iter = tokens.begin();
// get NMEA identifier
if((*tok_iter).compare("VNQMR") == 0)
{
processIMU(tokens,rx_msg->data);
}
else
{
ROS_INFO("Ignoring Unknown NMEA identifier %s",(*tok_iter).c_str());
}
}
}
bool imuIdentifierThread::processWayPoint()
{
processIMU();
if (wayPoints[currentWaypoint].name == "START " ||
wayPoints[currentWaypoint].name == "END " ||
wayPoints[currentWaypoint].name == "MIDDLE " )
{
if (posCtrlFlag)
{
printMessage(1,"Putting head in home position..\n");
goHome();
posCtrlFlag = false;
}
if (yarp::os::Time::now() - timeNow > CTRL_PERIOD)
{
posCtrlFlag = true;
return false;
}
}
else
{
Vector jls = wayPoints[currentWaypoint].jntlims;
Vector vls = wayPoints[currentWaypoint].vels;
bool flag = false;
iencsH->getEncoders(encsH->data());
yarp::sig::Vector head = *encsH;
// ivelH -> velocityMove(vls.data());
VectorOf<int> jointsToSet;
jointsToSet.push_back(0);
jointsToSet.push_back(1);
jointsToSet.push_back(2);
ivelH -> velocityMove(jointsToSet.size(),
jointsToSet.getFirst(),
vls.data());
for (int i = 0; i < 3; i++)
{
if (vls(i) > 0.0)
{
if (jls(i) - head(i) > 0.0)
{
flag = true;
}
}
else if (vls(i) < 0.0)
{
if (jls(i) - head(i) < 0.0)
{
flag = true;
}
}
}
return flag;
}
return true;
}
