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#include <ros/ros.h>
#include <std_msgs/String.h>
#include <visualization_msgs/Marker.h>

#include <sys/types.h>
#include <unistd.h>
#include <stdlib.h>

#include <sstream>
#include <unistd.h>

#include <pressure_cells/arduino.h>
#include <pressure_cells/BufferedAsyncSerial.h>
#include <pressure_cells/SenVal.h>

using namespace ros;
using namespace std;

double ee_calibrate(double adc, int cell)
{
   
    if(cell==1)
    {
                cout<<"cell1: "<<adc<< "sen"<<(0.026574084375916 * adc -0.834411121568734)<< endl;
        //Calibrate cell I
        return (double)(0.026574084375916 * adc -0.834411121568734);
    }
    if(cell==2)
    {
                cout<<"cell2: "<<adc<<"sen"<<(0.026233317081797 * adc  -4.311235918674921)<<endl;
        //Calibrate cell II
        return (double)(0.026233317081797 * adc  -4.311235918674921);
    }
    if(cell==3)
    {
                //cout<<"cell3: "<<adc<<"sen"<<(0.027158321888210 * adc  -1.748472910437862)<< endl;
        //Calibrate cell III
        return (double)(0.027158321888210 * adc  -1.748472910437862); //-1.748472910437862
    }
    if(cell==4)
    {
                cout<<"cell4: "<<adc<<(0.026998009432107 * adc  -3.485178371297848)<<endl;
        //Calibrate cell IV
        return (double)(0.026998009432107 * adc  -3.485178371297848);
    }
    if(cell==5)
    {
                cout<<"cell5: "<<adc<<"sen"<<(0.061665094219161 * adc  -0.037584380861199)<<endl;
        //Calibrate cell V
        return (double)(0.061665094219161 * adc  -0.037584380861199);
    }
    if(cell==6)
    {
                cout<<"cell6: "<<adc<<"sen"<<(0.059355778053492 * adc  -0.971028934842100)<<endl;
        //Calibrate cell VI
        return (double)(0.059355778053492 * adc  -0.971028934842100);//0.059355778053492 * adc  -0.971028934842100
    }
    if(cell==7)
    {
                cout<<"cell7: "<<adc<<"sen"<<(0.061558158124062 * adc  -1.514361056192554)<<endl;
        //Calibrate cell VII
        return (double)(0.061558158124062 * adc  -1.514361056192554); 
    }
    if(cell==8)
    {
                cout<<"cell8: "<<adc<<"sen"<<(0.022712489442863 * adc  -5.845013447028478)<<endl;
        //Calibrate cell VIII
        return (double)(0.017712489442863 * adc  -5.845013447028478);//(0.062712489442863 * adc  -0.845013447028478)
    }

    return -1;
}

int main ( int argc, char **argv )
{
    
    
    bool viz=0;
    
    init( argc, argv, "arduino" );
    
    NodeHandle n("~");
    
    ros::Publisher pub_viz;
    
    string device;
    string device_default = "default_device";
    n.param("/device", device, device_default );
    
    // set marker publisher name
    string tf_feet;
    string tf_feet_default = "tf_default_feet";
    n.param( "tf_feet", tf_feet, tf_feet_default );
    
    // frame for feet
    string markers;
    string markers_default = "default_markers";
    n.param("markers", markers, markers_default );
    

    std::string check_markers;
    n.getParam("markers", check_markers);
    
    if (check_markers!=markers_default)
    {
        ROS_INFO("Setting markers parameter to %s", check_markers.c_str());
        viz=1;
    }

    // Cell Calibration
    
    int cell1;
    int cell1_default = 1;
    n.param("cell1", cell1, cell1_default );
    
    int cell2;
    int cell2_default = 2;
    n.param("cell2", cell2, cell2_default );
    
    int cell3;
    int cell3_default = 3;
    n.param("cell3", cell3, cell3_default );
    
    int cell4;
    int cell4_default = 4;
    n.param("cell4", cell4, cell4_default );

    
    pub_viz = n.advertise<visualization_msgs::Marker>( markers, 0 );
    
    Publisher pub_sen_val = n.advertise< pressure_cells::SenVal >( "/values", 1000 );
    
    Rate loop_rate ( 1400 );
    
    pressure_cells::SenVal senval;

    BufferedAsyncSerial serial( device, 115200 );

    string data;
        double adc1, adc2, adc3, adc4;
    
    /*int pid = getpid(), rpid;

    boost::format fmt("sudo renice -10 %d");
    fmt % pid;
    
    rpid = std::system(fmt.str().c_str());
    */
    while ( ok () )
    {
                
        
        try
        {
            // Always returns immediately. If the terminator \n has not yet
            // arrived, returns an empty string.
            data = serial.readStringUntil ( "\n" );
            //Incomplete message
            
            if(data.size()==0)
                                continue; //estava on
                                
            cout<<"Processing message: "<<data<<endl;
            
                        istringstream buffer(data);
                        
                        double v1,v2,v3,v4;
                        buffer >> v1;
                        buffer >> v2;
                        buffer >> v3;
                        buffer >> v4;
                        
                        
                        adc1=v1; adc2=v2; adc3=v4; adc4=v3;
//             adc1 = (unsigned char)data[0] << 2 | (unsigned char)data[4] >> 6 ;
//             adc2 = (unsigned char)data[1] << 2 | ((unsigned char)data[4] & 0x30) >> 4;
//             adc3 = (unsigned char)data[2] << 2 | ((unsigned char)data[4] & 0x0C) >> 2;
//             adc4 = (unsigned char)data[3] << 2 | ((unsigned char)data[4] & 0x03);
// 
             senval.sen1=ee_calibrate(adc1, cell1); if(senval.sen1<=0) senval.sen1=0.001;
             senval.sen2=ee_calibrate(adc2, cell2); if(senval.sen2<=0) senval.sen2=0.001;
             senval.sen3=ee_calibrate(adc3, cell3); if(senval.sen3<=0) senval.sen3=0.001;
             senval.sen4=ee_calibrate(adc4, cell4); if(senval.sen4<=0) senval.sen4=0.001;
//       
                        //cout<<"v1: "<< senval.sen1<<" v2: "<< senval.sen2<<endl;
             senval.header.stamp = ros::Time::now (  );
//             
             pub_sen_val.publish ( senval );
//             
            if(viz)
            {
                geometry_msgs::Point f1_p1;
                geometry_msgs::Point f1_p2;
                geometry_msgs::Point f2_p1;
                geometry_msgs::Point f2_p2;
                geometry_msgs::Point f3_p1;
                geometry_msgs::Point f3_p2;
                geometry_msgs::Point f4_p1;
                geometry_msgs::Point f4_p2;
                
                visualization_msgs::Marker force1;
                visualization_msgs::Marker force2;
                visualization_msgs::Marker force3;
                visualization_msgs::Marker force4;

                // Load Cell 1
                force1.header.frame_id = tf_feet;
                force1.header.stamp = ros::Time();
                force1.ns = "force1";
                force1.id = 0;
                force1.type = visualization_msgs::Marker::ARROW;
                force1.action = visualization_msgs::Marker::ADD;
                force1.scale.x = 0.02;
                force1.scale.y = 0.02;
                force1.scale.z = 0;
                force1.color.a = 1.0;
                force1.color.r = 1.0;
                force1.color.g = 0.5;
                force1.color.b = 0.0;

                force1.points.clear();
                f1_p1.x = 0.044;
                f1_p1.y = 0.022;
                f1_p1.z = 0;
                force1.points.push_back(f1_p1);
                f1_p2.x = 0.044;
                f1_p2.y = 0.022;
                f1_p2.z = senval.sen1/25;
                force1.points.push_back(f1_p2);
                
                // Load Cell 2
                force2.header.frame_id = tf_feet;
                force2.header.stamp = ros::Time();
                force2.ns = "force2";
                force2.id = 0;
                force2.type = visualization_msgs::Marker::ARROW;
                force2.action = visualization_msgs::Marker::ADD;
                force2.scale.x = 0.02;
                force2.scale.y = 0.02;
                force2.scale.z = 0;
                force2.color.a = 1.0;
                force2.color.r = 0.02;
                force2.color.g = 0.8;
                force2.color.b = 0.02;

                force2.points.clear();
                f2_p1.x = 0.044;
                f2_p1.y = -0.022;
                f2_p1.z = 0;
                force2.points.push_back(f2_p1);
                f2_p2.x = 0.044;
                f2_p2.y = -0.022;
                f2_p2.z = senval.sen2/25;
                force2.points.push_back(f2_p2);
                
                // Load Cell 3
                force3.header.frame_id = tf_feet;
                force3.header.stamp = ros::Time();
                force3.ns = "force3";
                force3.id = 0;
                force3.type = visualization_msgs::Marker::ARROW;
                force3.action = visualization_msgs::Marker::ADD;
                force3.scale.x = 0.02;
                force3.scale.y = 0.02;
                force3.scale.z = 0;
                force3.color.a = 1.0;
                force3.color.r = 0.02;
                force3.color.g = 0.37;
                force3.color.b = 0.8;

                force3.points.clear();
                f3_p1.x = -0.046;
                f3_p1.y = -0.023;
                f3_p1.z = 0;
                force3.points.push_back(f3_p1);
                f3_p2.x = -0.046;
                f3_p2.y = -0.023;
                f3_p2.z = senval.sen3/25;
                force3.points.push_back(f3_p2);
                
                // Load Cell 4
                force4.header.frame_id = tf_feet;
                force4.header.stamp = ros::Time();
                force4.ns = "force4";
                force4.id = 0;
                force4.type = visualization_msgs::Marker::ARROW;
                force4.action = visualization_msgs::Marker::ADD;
                force4.scale.x = 0.02;
                force4.scale.y = 0.02;
                force4.scale.z = 0;
                force4.color.a = 1.0;
                force4.color.r = 0.37;
                force4.color.g = 0.02;
                force4.color.b = 0.8;

                force4.points.clear();
                f4_p1.x = -0.046;
                f4_p1.y = 0.023;
                f4_p1.z = 0;
                force4.points.push_back(f4_p1);
                f4_p2.x = -0.046;
                f4_p2.y = 0.023;
                f4_p2.z = senval.sen4/25;
                force4.points.push_back(f4_p2);
                
                pub_viz.publish( force1 );
                pub_viz.publish( force2 );
                pub_viz.publish( force3 );
                pub_viz.publish( force4 );

            }
           
            
        }
        catch ( boost::system::system_error& e )
        {
            cout << "Error: " << e.what (  ) << endl;
            return 1;
        }
        
        loop_rate.sleep();
                spinOnce();
       
    }
    
    return 0;
}

---

pressure_cells
Author(s): Emilio Estrelinha
autogenerated on Wed Jul 23 04:34:41 2014