/home/laradmin/lar/sensors/human_driver_monitor/src/human_driver_monitor.h

Go to the documentation of this file.

/**************************************************************************************************
 Software License Agreement (BSD License)

 Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
 All rights reserved.

 Redistribution and use in source and binary forms, with or without modification, are permitted
 provided that the following conditions are met:

  *Redistributions of source code must retain the above copyright notice, this list of
   conditions and the following disclaimer.
  *Redistributions in binary form must reproduce the above copyright notice, this list of
   conditions and the following disclaimer in the documentation and/or other materials provided
   with the distribution.
  *Neither the name of the University of Aveiro nor the names of its contributors may be used to
   endorse or promote products derived from this software without specific prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
 IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
 IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
 OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
***************************************************************************************************/
#ifndef _HUMAN_DRIVER_MONITOR_H_
#define _HUMAN_DRIVER_MONITOR_H_

#include <ros/ros.h>
#include <iostream>

#include <human_driver_monitor/HumanDriverMonitorStatus.h>

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <boost/thread/thread.hpp>

#include <tcp_client/AsyncClient.h>
#include <boost/format.hpp>
#include <boost/thread/thread.hpp>
#include <boost/spirit/include/qi.hpp>
#include <boost/spirit/include/phoenix_core.hpp>
#include <boost/spirit/include/phoenix_operator.hpp>

using namespace std;

namespace human_driver_monitor
{

class HumanDriverMonitor
{
        public:
                HumanDriverMonitor(const ros::NodeHandle& nh,std::string ip,std::string port):
                server_ip_(ip),
                server_port_(port),
                nh_(nh),
                status_freq_("HumanDriverMonitor",updater_,diagnostic_updater::FrequencyStatusParam(&status_max_frequency_,&status_min_frequency_, 0.1, 10)),//The last two parameters correspond to the tolerance and window size
                status_max_frequency_(50.0),//The frequency values appear in hz
                status_min_frequency_(70.0),
                comm_(io_service_,server_ip_,server_port_)
                {}
                
                ~HumanDriverMonitor()
                {}
                
                void init()
                {
                        //Set diagnostics
                        updater_.setHardwareID("human driver monitor");
                        updater_.add("HumanDriverMonitor",this,&human_driver_monitor::HumanDriverMonitor::diagnostics);
                
                        //Setup the new data handler
                        comm_.readHandler.connect(boost::bind(&HumanDriverMonitor::newData,this,_1));
                
                        //Setup the on successful connection handler
                        comm_.connectHandler.connect(boost::bind(&HumanDriverMonitor::connectHandler,this));
                }
                
                void setupMessaging()
                {
                        status_pub_ = nh_.advertise<human_driver_monitor::HumanDriverMonitorStatus>("status", 1);
                }
                
                void loop()
                {
                        //Run io service on a different tread
                        boost::thread thread(boost::bind(&boost::asio::io_service::run, &io_service_));
                        
                        ros::Rate r(50);//Hz
                        
                        do
                        {
                                //Update the diagnostics tool
                                updater_.update();
                                //Spin ros and sleep the desired amount
                                ros::spinOnce();
                                r.sleep();
                        }while(ros::ok());
                        
                        //Stop the io service running in a separate thread
                        io_service_.stop();
                        //Join the thread
                        thread.join();
                }

        protected:
                
                void connectHandler(void)
                {
                        try
                        {
                                comm_.write("start");
                        }catch(std::exception& e)
                        {
                                std::cout << "Exception: " << e.what() << "\n";
                        }
                }

                void newData(string data)
                {
                        //Erase the first 02 and the last 03 (stx and enx)
                        data.erase(0,1);
                        data.erase(data.end()-2,data.end());
                        
                        //Get info from message
                        
                        if(data[1]=='1')
                                status_.lights_high=1;
                        else
                                status_.lights_high=0;
                        
                        if(data[5]=='1')
                                status_.lights_medium=1;
                        else
                                status_.lights_medium=0;
                        
                        if(data[2]=='1')
                                status_.ignition=1;
                        else
                                status_.ignition=0;
                        
                        if(data[6]=='1')
                                status_.horn=1;
                        else
                                status_.horn=0;
                        
                        if(data[3]=='1')
                                status_.lights_left=1;
                        else
                                status_.lights_left=0;
                        
                        if(data[4]=='1')
                                status_.lights_right=1;
                        else
                                status_.lights_right=0;
                        
                        if(status_.lights_left && status_.lights_right)
                                status_.lights_danger=1;
                        else
                                status_.lights_danger=0;
                        
                        data.erase(0,7);
                        
                        //use boost spirit qi to parse the rest of the message
                        namespace qi = boost::spirit::qi;
                        using qi::omit;
                        using qi::int_;
                        using qi::char_;
                        using qi::ascii::space;
                        using qi::_1;
                        using boost::phoenix::ref;
                        
                        qi::phrase_parse(data.begin(),data.end(), 
                                                                                        omit[char_] >> int_[ref(status_.throttle_pressure) = _1] >>
                                                                                        omit[char_] >> int_[ref(status_.brake_pressure) = _1] >>
                                                                                        omit[char_] >> int_[ref(status_.clutch_pressure) = _1]
                                                                                        ,space);
                        
                        status_.header.stamp = ros::Time::now();
                        status_.header.frame_id = "";
                        status_pub_.publish(status_);
                        status_freq_.tick();
                }

                void diagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat)
                {
                        if(!comm_.isConnected())
                        {
                                stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "No connection to hardware.");
                                stat.add("Status",comm_.error_.message());
                                stat.add("Connecting to",server_ip_);
                                stat.add("Port number",server_port_);
                        }else
                        {
                                stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "No problems.");
                                stat.add("Connected with",server_ip_);
                                stat.add("Port number",server_port_);
                                
                                boost::format fmt("%.2f");
                                fmt % (ros::Time::now()-status_.header.stamp).toSec();
                        
                                stat.add("Last message sent", fmt.str()+" seconds ago" );
                        }
                }

                std::string server_ip_;
                std::string server_port_;
                                
                ros::NodeHandle nh_;
                
                ros::Publisher status_pub_;
                
                human_driver_monitor::HumanDriverMonitorStatus status_;
                
                diagnostic_updater::Updater updater_;
                diagnostic_updater::HeaderlessTopicDiagnostic status_freq_;
                double status_max_frequency_;
                double status_min_frequency_;
                boost::asio::io_service io_service_;
                AsyncClient comm_;
};

}

#endif

---

human_driver_monitor
Author(s): Jorge Almeida
autogenerated on Wed Jul 23 04:33:50 2014