gearbox.cpp

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#include "gearbox.h"

namespace atlascar_base
{


Gearbox::Gearbox(const ros::NodeHandle& nh)
:nh_(nh),
// server_ip_gearbox(ip_),
// server_port_gearbox(port_),
// ip_("192.168.1.123"),
ip_("10.0.0.213"),
port_(120),
status_freq_("Gearbox",updater_,diagnostic_updater::FrequencyStatusParam(&status_max_frequency_,&status_min_frequency_, 0.1, 10)),
status_max_frequency_(8.0),
status_min_frequency_(12.0)
{
        comm_=NULL;
}

Gearbox::~Gearbox()
{
}

void Gearbox::init()
{
        safety_command_.reset(new atlascar_base::GearboxCommand);
        
        //Set the safety message default values, this messages will never be removed from the list
        safety_command_->lifetime=INFINITY;
        safety_command_->priority=0;
        safety_command_->gear=0;
        
        //Push the safety message into the queue
        command_queue_.push_msg(safety_command_);
        
        //Set diagnostics
        updater_.setHardwareID("gearbox");
        updater_.add("Gearbox",this,&atlascar_base::Gearbox::diagnostics);
}

void Gearbox::setupMessaging()
{
        command_sub_ = nh_.subscribe("command", 1, &Gearbox::commandCallback, this);
        status_pub_ = nh_.advertise<atlascar_base::GearboxStatus>("status", 1);
}

void Gearbox::loop()
{
        // String to contain the received message:
        string received_message;
        // String to contain the message to send:
        char send[1024];
        
        ros::Rate r(12);//Hz
        
        do
        {
                updater_.update();
                
                //Get top layer message, the command message that has the most priority and is still valid
                command_=command_queue_.top_msg();
                
                //Check the status of the connection and reconnect if needed
                maintainConnection();
                
                //Commandar e ler o estado da caixa
                //a variabel de controlo é command_
                //a variabvle de estado é status_
                
                if (command_->gear<7 && connection_status_==ONLINE)
                {
//                      cout<<"Setting gear: "<<command_->gear<<endl;
                        sprintf(send,"sg %d",command_->gear);
                        comm_->Send(send,strlen(send)+1);
                        comm_->perr("Failed to send");
                                
                        // If a message is received:
                        if(receiveMessage(received_message)==0)
                                interpreterMessage(received_message);
                }
                
//              cout<<"Get current state"<<endl;
                sprintf(send,"gg");
                comm_->Send(send,strlen(send)+1);
                comm_->perr("Failed to send");
                
                if(receiveMessage(received_message)==0)
                                interpreterMessage(received_message);
                
                
                //Publish the status message
                status_.header.stamp = ros::Time::now();
                status_.header.frame_id = "";
                status_pub_.publish(status_);
                status_freq_.tick();
                
                //Spin ros and sleep the desired amount
                ros::spinOnce();
                r.sleep();
        }while(ros::ok());
}

void Gearbox::commandCallback(const atlascar_base::GearboxCommandPtr& command)
{
        command_queue_.push_msg(command);
}

int Gearbox::maintainConnection()
{
        if(connection_status_==ONLINE)//Connection is active nothing to do
                return 0;
        
        if(comm_)//if the comm already exists
        {
                //Disconnect Ethernet
                comm_->Disconnect();
                //Delete Ethernet object
                delete comm_;
        }

        comm_=new tcp_client(ip_.c_str(),port_);
        
        errno=0;

        struct timeval timeout = {1,0};//set 1 sec timeout for read and write
        setsockopt(comm_->GetSocket(),SOL_SOCKET,SO_SNDTIMEO,&timeout, sizeof(timeout));
        setsockopt(comm_->GetSocket(),SOL_SOCKET,SO_RCVTIMEO,&timeout, sizeof(timeout));
        
        comm_->Connect();
        if(comm_->err<0)
        {
                std::cout<<"Cannot connect to gearbox: "<<comm_->err_msg<<" "<<strerror(errno)<<std::endl;
                comm_->Disconnect();
                connection_status_=OFFLINE;
                return -1;
        }

        std::cout<<"reconnection sucessfull."<<std::endl;

        connection_status_=ONLINE;

        return 0;
}

int Gearbox::interpreterMessage(string& message)
{       
        char opcode[100];
        char code;
        int current_gear;
        int next_gear;
        
//      cout<<"Message: >"<<message.c_str()<<"<"<<endl;
        
        sscanf(message.c_str(),"%*c %s",opcode);
        
        if (opcode[0]=='u')
        {
                status_.status="command unknown";
                return -1;
        }
        
        sscanf(message.c_str(),"%*c %*s %c",&code);
        switch (code)
        {
                case 'i':
                        status_.status="command invalid";
                        break;
                case 'm':
                        status_.status="manual mode";
                        break;
                case 'c':
                        sscanf(message.c_str(),"%*c %*s %*c %d %*c %d",&current_gear,&next_gear);
                        status_.gear=current_gear;
                        
                        status_.status="changing to "+boost::lexical_cast<std::string>(next_gear);
//                      cout<<"GEARBOX: "<<status_.status<<endl;
                        
                        break;
                case 'a':
                        sscanf(message.c_str(),"%*c %*s %*c %d",&current_gear);
                        status_.gear=current_gear;
                        status_.status="ok";
                        
//                      cout<<"GEARBOX: "<<status_.status<<" current gear: "<<current_gear<<endl;
                        
                        break;
                default:
                        status_.status="unrecognised status";
                        break;          
        }       
        
        return 0;
}





int Gearbox::receiveMessage(string& message)
{
  char rec_buf[1024];
  char recv_msg[1024];
  memset(recv_msg,0,sizeof(recv_msg));

  while(rec_buf[0]!=2)
  {
    if(comm_->Receive(rec_buf,1)!=0)
    {
      comm_->Disconnect();
      comm_->perr("Cannot read");
    }
    
    if(comm_->err<0)
      return -1;
  }

  int i=0;
  while(rec_buf[0]!=3)
  {
    if(comm_->Receive(rec_buf,1)!=0)
    {
      comm_->Disconnect();
      comm_->perr("Cannot read");
    }
    
    if(comm_->err<0)
      return -1;
    recv_msg[i++]=rec_buf[0];
  }
  
  recv_msg[i-1]='\0';
  message=recv_msg;
  
  return 0;
}

}