void sonarPrinter(void)
{
ArSonarDevice *sd;
std::list<ArPoseWithTime *>::iterator it;
std::list<ArPoseWithTime *> *readings;
ArPose *pose;
sd = (ArSonarDevice *)robot->findRangeDevice("sonar");
if (sd != NULL)
{
sd->lockDevice();
readings = sd->getCurrentBuffer();
if (readings != NULL)
{
for (it = readings->begin(); it != readings->end(); ++it)
{
pose = (*it);
//pose->log();
}
}
sd->unlockDevice();
}
double d;
double th;
int i;
printf("Closest readings within polar sections:\n");
d = sonar.currentReadingPolar(-45, 45, &th);
printf(" front quadrant: %5.0f ", d);
if (d != 5000)
printf("%3.0f ", th);
printf("\n");
d = sonar.currentReadingPolar(-135, -45, &th);
printf(" right quadrant: %5.0f ", d);
if (d != 5000)
printf("%3.0f ", th);
printf("\n");
d = sonar.currentReadingPolar(45, 135, &th);
printf(" left quadrant: %5.0f ", d);
if (d != 5000)
printf("%3.0f ", th);
printf("\n");
d = sonar.currentReadingPolar(-135, 135, &th);
printf(" back quadrant: %5.0f ", d);
if (d != 5000)
printf("%3.0f ", th);
printf("\n");
fflush(stdout);
}
int RosAriaNode::Setup()
{
ArArgumentBuilder *args;
args = new ArArgumentBuilder();
args->add("-rp"); //pass robot's serial port to Aria
args->add(serial_port.c_str());
conn = new ArSimpleConnector(args);
robot = new ArRobot();
robot->setCycleTime(1);
ArLog::init(ArLog::File, ArLog::Verbose, "aria.log", true);
//parse all command-line arguments
if (!Aria::parseArgs())
{
Aria::logOptions();
return 1;
}
// Connect to the robot
if (!conn->connectRobot(robot)) {
ArLog::log(ArLog::Terse, "rotate: Could not connect to robot! Exiting.");
return 1;
}
//Sonar sensor
sonar.setMaxRange(Max_Range);
robot->addRangeDevice(&sonar);
robot->enableSonar();
// Enable the motors
robot->enableMotors();
robot->runAsync(true);
return 0;
}
void sonarPrinter(void)
{
double d;
double th;
d = sonar.currentReadingPolar(-45, 45, &th);
printf("front: %5.0fmm ", d);
if (d != sonar.getMaxRange())
printf("%3.0fdeg ", th);
else
printf("???deg ");
d = sonar.currentReadingPolar(-135, -45, &th);
printf(" right: %5.0fmm ", d);
if (d != sonar.getMaxRange())
printf("%3.0fdeg ", th);
else
printf("???deg ");
d = sonar.currentReadingPolar(45, 135, &th);
printf(" left: %5.0fmm ", d);
if (d != sonar.getMaxRange())
printf("%3.0fdeg ", th);
else
printf("???deg ");
d = sonar.currentReadingPolar(135, -135, &th);
printf(" back: %5.0fmm ", d);
if (d != sonar.getMaxRange())
printf("%3.0fdeg ", th);
else
printf("???deg ");
printf("\r");
fflush(stdout);
}
void RosAriaNode::cmdvel_cb( const geometry_msgs::PointStampedConstPtr &msg)
{
veltime = ros::Time::now();
//get data from Package
Vsd =ceil(msg->point.x); //Vsd = Xm/Scale
Vm=msg->point.y; // Vm
fk = msg->point.z;
//real velocity
Vs = ceil(robot->getVel());
//Distance from obstacle
distance = sonar.currentReadingPolar(-30,30);
//Environment force
if (distance<Min_Range)
fe = -Max_Force;
else if (distance<Max_Range)
fe = -Ke*1/distance;
else
fe=0;
//Virtual force
fs = (Vsd-Vs)/50;
/*
* Xm chanel
*/
//PO
if (fs*Vsd>0)
{
//do nothing
slaE_N_Xm-=fs*Vsd; //output
}
else
{
//slaE_N_Xm+=fs*Vsd; //output
}
//ROS_INFO("Slave Energy: %5f",slaE_N_Xm);
//fprintf(Energy,"%.3f \n",slaE_N_Xm);
//PC
#if 1
if (slaE_N_Xm+mstE_P_Xm<0) //input + output<0 =>active
{
//modify Vsd
slaE_N_Xm+=fs*Vsd;
Vsd = (slaE_N_Xm+mstE_P_Xm)/fs;
slaE_N_Xm-=fs*Vsd;
ROS_INFO("Modified Vs");
}
#endif
/*
* fe chanel
*/
if (fe*Vm>0)
{
slaE_P_fe+=fe*Vm;
}
else
{
//do nothing
}
//fprintf(Energy,"%.3f \n",slaE_P_fe);
/*
* fk chanel
*/
if (fk*Vs>0)
{
// slaE_P_fk+=fk*Vs;
}
else
{
slaE_P_fk-=fk*Vs;
//do nothing
}
fprintf(Energy,"%.3f \n",slaE_P_fk);
// ROS_INFO("Slave Energy: %5f",slaE_P_fk);
//ROS_INFO("Set velocity: %5f",Vsd);
//ROS_INFO("Real velocity: %5f",Vs);
//ROS_INFO("Force: %5f",fe);
robot->setVel(Vsd);
//Package and publish
chanelParameter.point.x = Vs;
chanelParameter.point.y = fs;
chanelParameter.point.z = fe;
chanelEnergy.point.x = slaE_P_fe;
chanelEnergy.point.y = slaE_P_fk;
chanelParameter_Pub.publish(chanelParameter);
chanelEnergy_Pub.publish(chanelEnergy);
fprintf(Vs_save,"%.3f \n",Vs);
fprintf(Vsd_save,"%.3f \n",Vsd);
}
void sonarPrinter(void)
{
fprintf(stdout, "in sonarPrinter()\n"); fflush(stdout);
double scale = (double)half_size / (double)sonar.getMaxRange();
/*
ArSonarDevice *sd;
std::list<ArPoseWithTime *>::iterator it;
std::list<ArPoseWithTime *> *readings;
ArPose *pose;
sd = (ArSonarDevice *)robot->findRangeDevice("sonar");
if (sd != NULL)
{
sd->lockDevice();
readings = sd->getCurrentBuffer();
if (readings != NULL)
{
for (it = readings->begin(); it != readings->end(); ++it)
{
pose = (*it);
//pose->log();
}
}
sd->unlockDevice();
}
*/
double range;
double angle;
/*
* example to show how to find closest readings within polar sections
*/
printf("Closest readings within polar sections:\n");
double start_angle = -45;
double end_angle = 45;
range = sonar.currentReadingPolar(start_angle, end_angle, &angle);
printf(" front quadrant: %5.0f ", range);
//if (range != sonar.getMaxRange())
if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
printf("%3.0f ", angle);
printf("\n");
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
//if (isInitialized && range != sonar.getMaxRange())
if (isInitialized && std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
{
double x = range * cos(vpMath::rad(angle)); // position of the obstacle in the sensor frame
double y = range * sin(vpMath::rad(angle));
// Conversion in pixels so that the robot frame is in the middle of the image
double j = -y * scale + half_size; // obstacle position
double i = -x * scale + half_size;
vpDisplay::display(I);
vpDisplay::displayLine(I, half_size, half_size, 0, 0, vpColor::red, 5);
vpDisplay::displayLine(I, half_size, half_size, 0, 2*half_size-1, vpColor::red, 5);
vpDisplay::displayLine(I, half_size, half_size, i, j, vpColor::green, 3);
vpDisplay::displayCross(I, i, j, 7, vpColor::blue);
}
#endif
range = sonar.currentReadingPolar(-135, -45, &angle);
printf(" right quadrant: %5.0f ", range);
//if (range != sonar.getMaxRange())
if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
printf("%3.0f ", angle);
printf("\n");
range = sonar.currentReadingPolar(45, 135, &angle);
printf(" left quadrant: %5.0f ", range);
//if (range != sonar.getMaxRange())
if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
printf("%3.0f ", angle);
printf("\n");
range = sonar.currentReadingPolar(-135, 135, &angle);
printf(" back quadrant: %5.0f ", range);
//if (range != sonar.getMaxRange())
if (std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
printf("%3.0f ", angle);
printf("\n");
/*
* example to show how get all sonar sensor data
*/
ArSensorReading *reading;
for (int sensor = 0; sensor < robot->getNumSonar(); sensor++)
{
reading = robot->getSonarReading(sensor);
if (reading != NULL)
{
angle = reading->getSensorTh();
range = reading->getRange();
double sx = reading->getSensorX(); // position of the sensor in the robot frame
double sy = reading->getSensorY();
double ox = range * cos(vpMath::rad(angle)); // position of the obstacle in the sensor frame
double oy = range * sin(vpMath::rad(angle));
double x = sx + ox; // position of the obstacle in the robot frame
double y = sy + oy;
// Conversion in pixels so that the robot frame is in the middle of the image
double sj = -sy * scale + half_size; // sensor position
double si = -sx * scale + half_size;
double j = -y * scale + half_size; // obstacle position
double i = -x * scale + half_size;
// printf("%d x: %.1f y: %.1f th: %.1f d: %d\n", sensor, reading->getSensorX(),
// reading->getSensorY(), reading->getSensorTh(), reading->getRange());
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
//if (isInitialized && range != sonar.getMaxRange())
if (isInitialized && std::fabs(range - sonar.getMaxRange()) > std::numeric_limits<double>::epsilon())
{
vpDisplay::displayLine(I, si, sj, i, j, vpColor::blue, 2);
vpDisplay::displayCross(I, si, sj, 7, vpColor::blue);
char legend[15];
sprintf(legend, "%d: %1.2fm", sensor, float(range)/1000);
vpDisplay::displayCharString(I, i-7, j+7, legend, vpColor::blue);
}
#endif
}
}
#if defined(VISP_HAVE_X11) || defined (VISP_HAVE_GDI)
if (isInitialized)
vpDisplay::flush(I);
#endif
fflush(stdout);
}