plc.cpp

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#include "plc.h"

namespace atlascar_base
{
        
Plc::Plc(const ros::NodeHandle& nh,std::string ip, std::string port)
:
server_ip_(ip),
server_port_(port),
nh_(nh),
status_freq_("Plc",updater_,diagnostic_updater::FrequencyStatusParam(&status_max_frequency_,&status_min_frequency_, 0.1, 10)),
status_max_frequency_(10.0),
status_min_frequency_(20.0),
comm_(io_service_,server_ip_,server_port_,std::string("\x03"))
{
        verbose_=0;
}

Plc::~Plc()
{}

void Plc::init()
{
        safety_command_.reset(new atlascar_base::PlcCommand);
        
        //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_->brake=0; //This will make the pedal go down
        safety_command_->clutch=0; //This will make the pedal go down
        safety_command_->steering_wheel=0;//center steering wheel
        
        //Push the safety message into the queue
        command_queue_.push_msg(safety_command_);
        
        //Set diagnostics
        updater_.setHardwareID("plc");
        updater_.add("Plc",this,&atlascar_base::Plc::diagnostics);
        
        //Setup the new data handler
        comm_.readHandler.connect(boost::bind(&Plc::newData,this,_1));
        
        //Get the atlascar parameters
        nh_.param("steering_wheel_from_plc_min",steering_wheel_calibration_.minimum_value_,-1.);
        nh_.param("steering_wheel_from_plc_max",steering_wheel_calibration_.maximum_value_,-1.);
        
        nh_.param("steering_wheel_from_plc_rad_min",steering_wheel_calibration_.minimum_required_,-1.);
        nh_.param("steering_wheel_from_plc_rad_max",steering_wheel_calibration_.maximum_required_,-1.);
        
        nh_.param("steering_wheel_to_plc_min",steering_wheel_to_plc_calibration_.minimum_required_,-1.);
        nh_.param("steering_wheel_to_plc_max",steering_wheel_to_plc_calibration_.maximum_required_,-1.);
        
        nh_.param("steering_wheel_to_plc_rad_min",steering_wheel_to_plc_calibration_.minimum_value_,-1.);
        nh_.param("steering_wheel_to_plc_rad_max",steering_wheel_to_plc_calibration_.maximum_value_,-1.);
        
        nh_.param("brake_plc_min",brake_calibration_.minimum_value_,-1.);
        nh_.param("brake_plc_max",brake_calibration_.maximum_value_,-1.);
        
        brake_calibration_.minimum_required_=0;
        brake_calibration_.maximum_required_=1;
                
        nh_.param("clutch_plc_min",clutch_calibration_.minimum_value_,-1.);
        nh_.param("clutch_plc_max",clutch_calibration_.maximum_value_,-1.);
        
        clutch_calibration_.minimum_required_=0;
        clutch_calibration_.maximum_required_=1;
}

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

void Plc::loop()
{
        //Run io service on a different tread
        boost::thread thread(boost::bind(&boost::asio::io_service::run, &io_service_));

        ros::Rate r(15);//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();
                
                if(!command_)
                {
                        cout<<"Error!! Invalid command in queue, safety message removed by user!!"<<endl;
                }else
                {
                        try
                        {
                                //Send the command message to the PLC
                                sendCommand();
                        }catch(std::exception& e)
                        {
                                std::cout << "Exception: " << e.what() << "\n";
                        }
                }
                
                //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();
}

void Plc::newData(string data)
{
        std::size_t found=data.find("\x02");
        data.erase(0,found+1);
        data.erase(data.end()-1,data.end());
        
        double throttle;
        double steering_wheel;
        double brake;
        double clutch;
        double rpm;
        double speed;
        int handbrake;
        int emergency;
        int gear;
        int error;
        
        sscanf(data.c_str(),"%*s %lf %*s %lf %*s %lf %*s %lf %*s %d %*s %d %*s %lf %*s %lf %*s %d %*s %d",&throttle,&steering_wheel,&brake,&clutch,&handbrake,&gear,&speed,&rpm,&emergency,&error);
        
        status_.clutch=clutch_calibration_.remap(clutch);
        status_.brake=brake_calibration_.remap(brake);
        status_.steering_wheel=steering_wheel_calibration_.remap(steering_wheel);
        
        status_.rpm=rpm;
        status_.ignition=command_->ignition;
        status_.emergency=emergency;
        
        /*Get the rest of the stuff from the outgoing message*/
        status_.lights_high=command_->lights_high;
        status_.lights_medium=command_->lights_medium;
        status_.lights_minimum=command_->lights_minimum;
        status_.lights_left=command_->lights_left;
        status_.lights_right=command_->lights_right;
        status_.lights_brake=command_->lights_brake;
        status_.lights_reverse=command_->lights_reverse;
        status_.lights_warning=command_->lights_warning;
        
        status_.auto_ignition=command_->auto_ignition;
        status_.auto_brake=command_->auto_brake;
        status_.auto_direction=command_->auto_direction;
        status_.auto_clutch=command_->auto_clutch;

        status_.header.stamp = ros::Time::now();
        status_.header.frame_id = "";
        status_pub_.publish(status_);
        status_freq_.tick();
}

int Plc::sendCommand(void)
{
        char message_string[2000];
        char text[2000];
        
        double steering_wheel = steering_wheel_to_plc_calibration_.remap(command_->steering_wheel);
        
        sprintf(message_string,"STTP %.4E ",0.0);

        sprintf(text,"SSWP %.4E ",steering_wheel);
        strcat(message_string,text);
        
        sprintf(text,"SBKP %.4E ",command_->brake);
        strcat(message_string,text);
        
        sprintf(text,"SCLP %.4E ",command_->clutch);
        strcat(message_string,text);
        
        sprintf(text,"SHBP %10d ",0);
        strcat(message_string,text);
        
        sprintf(text,"SGER %10d ",0);
        strcat(message_string,text);
        
        sprintf(text,"SIGN %10d ",command_->ignition);
        strcat(message_string,text);
        
        sprintf(text,"SVHS %.4E ",0.0);
        strcat(message_string,text);
        
        sprintf(text,"SVBS %10d ",1);
        strcat(message_string,text);
        
        sprintf(text,"SFAL %10d ",command_->lights_warning);
        strcat(message_string,text);
        
        sprintf(text,"SHIL %10d ",command_->lights_high);
        strcat(message_string,text);
        
        sprintf(text,"SHEL %10d ",command_->lights_medium);
        strcat(message_string,text);
        
        sprintf(text,"SRTL %10d ",command_->lights_right);
        strcat(message_string,text);
        
        sprintf(text,"SLTL %10d ",command_->lights_left);
        strcat(message_string,text);
        
        sprintf(text,"STTA %10d ",0);
        strcat(message_string,text);
        
        sprintf(text,"SSWA %10d ",command_->auto_direction);
        strcat(message_string,text);
        
        sprintf(text,"SBKA %10d ",command_->auto_brake);
        strcat(message_string,text);
        
        sprintf(text,"SCLA %10d ",command_->auto_clutch);
        strcat(message_string,text);
        
        sprintf(text,"SHBA %10d ",0);
        strcat(message_string,text);
        
        sprintf(text,"SGEA %10d ",0);
        strcat(message_string,text);
        
        sprintf(text,"EEST %10d ",command_->emergency);
        strcat(message_string,text);
        
        sprintf(text,"SIGA %10d ",command_->auto_ignition);
        strcat(message_string,text);

        sendMessage(message_string);
        
        return 0;
}

int Plc::sendMessage(char*message_string)
{
        char formatted_message[2000];
        
        memset(formatted_message,0,sizeof(formatted_message));
        sprintf(formatted_message,"%c%s%c",2,message_string,3);
        
        std::string msg = std::string(formatted_message);
        if(verbose_)std::cout<<">> "<<msg<<std::endl;
        comm_.write(std::string(formatted_message));
        
        return 0;
}

void Plc::commandCallback(const atlascar_base::PlcCommandPtr& command)
{
        command_queue_.push_msg(command);
}

}