JointStateToPeis::JointStateToPeis() { int my_peis_id = peiskmt_peisid(); joint_state_sub_ = nh_.subscribe("jaco/joint_states", 1, &JointStateToPeis::jointStateCB, this); current_pose_sub_ = nh_.subscribe("jaco/current_pose", 1, &JointStateToPeis::currentPoseCB, this); peiskmt_registerTupleCallback(my_peis_id, "jaco_joint_states.publishing_frequency", this, &JointStateToPeis::jointStatePubFreqCB); peiskmt_registerTupleCallback(my_peis_id, "jaco_current_pose.publishing_frequency", this, &JointStateToPeis::currentPosePubFreqCB); joint_state_pub_freq_ = boost::shared_ptr<ros::Rate> (new ros::Rate(10.0)); joint_state_pub_freq_ = boost::shared_ptr<ros::Rate> (new ros::Rate(10.0)); peiskmt_setStringTuple("jaco_joint_states.publishing_frequency", "10.00"); peiskmt_setStringTuple("jaco_current_pose.publishing_frequency", "10.00"); peiskmt_setStringTuple("jaco_joint_states.format", "j0 j1 j2 j3 j4 j5 j6"); peiskmt_setStringTuple("jaco_current_pose.format", "x y z pitch yaw roll"); pthread_create(¤t_pose_publisher_thread_id_, NULL, &JointStateToPeis::current_pose_publisher_thread, (void *) this); pthread_create(&joint_state_publisher_thread_id_, NULL, &JointStateToPeis::joint_state_publisher_thread, (void *) this); ROS_INFO("Object created!"); }
int main(int argc,char **args) { char configfilename[MAXLENGTH]; char logfilename[MAXLENGTH]; FILE* logfile; int skipHeader = 0; char tuplename[MAXLENGTH]; int isRunning; int element_ready; PeisTuple* mytuple; int i; int ID, len; char* value; time_t now; struct tm ts; char date[MAXLENGTH]; float kernel_time; // handlers PeisSubscriberHandle subHandler[MAXKEYS]; PeisCallbackHandle callHandler[MAXKEYS]; // init isRunning isRunning = 1; // init the semaphore pthread_mutex_init(&tuple_processing, NULL); // init the tuple list initializeList(&tuples); // initial check for arguments memcpy(configfilename, CONFIGFILE, strlen(CONFIGFILE)+1); memcpy(logfilename, LOGFILE, strlen(CONFIGFILE)+1); for ( i = 0; i < argc; i++ ) { if (strcmp(args[i],"--help") == 0) { printUsage(stderr,argc,args); } if (strcmp(args[i],"--conf") == 0) { memcpy(configfilename, args[i+1], strlen(args[i+1])+1); } if (strcmp(args[i],"--log") == 0) { memcpy(logfilename, args[i+1], strlen(args[i+1])+1); } if (strcmp(args[i],"--skip") == 0) { skipHeader = 1; } } // instantiate & initialize the PEIS component peiskmt_initialize(&argc, args); // prepare the header of the log file // time: "ddd yyyy-mm-dd hh:mm:ss zzz" time(&now); ts = *localtime(&now); strftime(date, sizeof(date), "%a %Y-%m-%d %H:%M:%S %Z", &ts); kernel_time = peiskmt_gettimef(); // Printing the header for the log file if (skipHeader == 0) { if( !(logfile = fopen(logfilename, "w") ) ) { printf("Error opening the log file %s \n", logfilename); isRunning = 0; } ID = peiskmt_peisid(); PeisTuple* kernelTuple = peiskmt_getTuple(ID,"kernel.version",PEISK_KEEP_OLD|PEISK_NON_BLOCKING); fprintf(logfile, "; Kernel version %s\n", kernelTuple->data); fprintf(logfile, "; peislogger version 1.0\n"); fprintf(logfile, "; starting at %f kernel time, %s\n", kernel_time, date); fprintf(logfile, "%f\n", kernel_time); fprintf(logfile, "; structure of recorded data:\n"); fprintf(logfile, "; kernel_ts,write_ts,user_ts,expire_ts,owner,creator,keyDepth,keys,datalenght,data\n"); fclose(logfile); } // Reading the keys of the tuples to subscribe if (!readConfiguration(configfilename)) { printf("Problem reading from configuration file %s \n", configfilename); isRunning = 0; } // Subscribe to all the keys specified in the configuration file and attach a callback for( i = 0 ; i < keyscounter ; i++) { printf("Subscribing to tuple: \"%s\" ", keys[i]); printf("..."); subHandler[i] = peiskmt_subscribe(-1, keys[i]); callHandler[i] = peiskmt_registerTupleCallback(-1, keys[i], NULL, (void*)eventCallback); printf("DONE \n"); } while( isRunning && peiskmt_isRunning() ) { // get the tuple to write // not very elegant, but this way I can use the semaphores pthread_mutex_lock(&tuple_processing); element_ready = isNotEmpty(&tuples); pthread_mutex_unlock(&tuple_processing); if(element_ready) { pthread_mutex_lock(&tuple_processing); mytuple = getAndDeleteFirstElement(&tuples); pthread_mutex_unlock(&tuple_processing); peiskmt_printTuple(mytuple); printf("\n"); if ( !(logfile = fopen(logfilename, "a") ) ) { printf("Error appending to logfile file %s \n", logfilename); exit(0); } peiskmt_getTupleName(mytuple, tuplename, sizeof(tuplename)); fprintf(logfile, "%f %d.%d %d.%d %d.%d %d %d %d %d %d %s %d %s\n", peiskmt_gettimef(), mytuple->ts_write[0], mytuple->ts_write[1], mytuple->ts_user[0], mytuple->ts_user[1], mytuple->ts_expire[0], mytuple->ts_expire[1], mytuple->owner, mytuple->creator, mytuple->alloclen, mytuple->isNew, mytuple->keyDepth, tuplename, strlen(mytuple->data)+1, (char*)mytuple->data); fclose(logfile); } usleep(10000); } // unsubscribe for( i = 0 ; i < keyscounter ; i++) { peiskmt_unsubscribe(subHandler[i]); peiskmt_unregisterTupleCallback(callHandler[i]); } // free the memory of both the queue and the variables peiskmt_freeTuple(mytuple); emptyQueue(&tuples); pthread_mutex_destroy(&tuple_processing); peiskmt_shutdown(); }