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#include "ros/ros.h"
#include <iostream>
#include <stdlib.h>
#include <signal.h>
#include "tcp_client/class_tcp.h"
#include <optoelectric/sensor_sharp_msg.h>

#define PFLN {printf("%s %d\n",__FILE__, __LINE__);}
#include <vector>

FILE * pFile;
using namespace std;

#define d_front_back 2.61

tcp_client *lig;
optoelectric::sensor_sharp_msg msg;

int ReceiveMessage(string& message)
{
        char rec_buf[1024];
        char recv_msg[1024];

        do
        {
                lig->Receive(rec_buf,1);
                lig->perr("Cannot read");
                if(lig->err<0)
                        return -1;

        }while(rec_buf[0]!=2);

        int i=0;
        do
        {
                lig->Receive(rec_buf,1);
                lig->perr("Cannot read");

                if(lig->err<0)
                        return -1;

                recv_msg[i++]=rec_buf[0];
        }while(rec_buf[0]!=3);

        recv_msg[i-1]='\0';

        message=recv_msg;
        return 0;
}

int main(int argc,char**argv)
{
        char envia[1024];
        //char breve[1024];

        string received_message;

        ros::init(argc, argv, "sensor_sharp");
        ros::NodeHandle n("~");
                
        //Ip of the Arduino server
        std::string ip;
        //Port of the Arduino server
        int port;

        //Obtain the ip as a ros::parameter
        n.param("server_ip",ip,std::string("Not found"));
        //Obtain the port as a ros::parameter
        n.param("server_port",port,0);
                
        ros::Publisher publisher = n.advertise<optoelectric::sensor_sharp_msg>("sensor_publish", 50);

        lig=new tcp_client(ip.c_str(),port,false);

        struct timeval timeout = {1,0};//set 1 sec timeout for read and write
        setsockopt(lig->GetSocket(),SOL_SOCKET,SO_SNDTIMEO,&timeout, sizeof(timeout));
        setsockopt(lig->GetSocket(),SOL_SOCKET,SO_RCVTIMEO,&timeout, sizeof(timeout));

        std::cout<<"Connecting to : " << ip << ":" << port <<std::endl;
                
        lig->Connect();
        lig->perr(std::string("Falhou ao ligar: " + ip).c_str());

        strcpy(envia,"inicia");
        lig->Send(envia,strlen(envia));
        lig->perr("Falhou a enviar");

        ros::Rate looprate(100);

        while(ros::ok())
        {
                if(!lig->connected)
                {
                        cout<<"Reconecting"<<endl;

                        lig->Disconnect();
                        lig->perr("Falha a desligar");

                        delete lig;
                        lig=new tcp_client(ip.c_str(),port,false);

                        setsockopt(lig->GetSocket(),SOL_SOCKET,SO_SNDTIMEO,&timeout, sizeof(timeout));
                        setsockopt(lig->GetSocket(),SOL_SOCKET,SO_RCVTIMEO,&timeout, sizeof(timeout));

                        lig->Connect();
                        lig->perr("Falhou a ligar");

                        lig->Send(envia,strlen(envia));
                        lig->perr("Falhou a enviar");
                }

                double d_front_left,d_front_right,d_back_left,d_back_right,roll,pitch,z;
                if(ReceiveMessage(received_message)==0)
                {
                        //Mensagem bem recebida
                        char buf[1024];
                        strcpy(buf,received_message.c_str());
                        sscanf(buf,"%lf %lf %lf %lf %lf %lf %lf",&d_front_left,&d_front_right,&d_back_right,&d_back_left,&roll,&pitch,&z);
                        msg.header.stamp=ros::Time::now();
                        msg.d_front_left=(d_front_left)/100;
                        msg.d_front_right=(d_front_right)/100-0.06;
                        msg.d_back_left=(d_back_left-7)/100; // -7 difference between front and back sensors
                        msg.d_back_right=(d_back_right-7)/100;// -7 difference between front and back sensors
                        msg.z_=(msg.d_front_right + msg.d_front_left + msg.d_back_right + msg.d_back_left)/4;//height mean given by the four sensors
                        msg.roll_=0; //mudar para se puder calcular
                        msg.pitch_=0;//asin(((msg.d_back_left+msg.d_back_right)*0.5  + (msg.d_front_left))/d_front_back); //sem calculo do sensor direito
                        publisher.publish(msg);
                }

                looprate.sleep();
                ros::spinOnce();
        }

        return 0;
}
 

---

optoelectric
Author(s): Pedro Salvado
autogenerated on Wed Jul 23 04:35:04 2014