atlasmv_command_publisher.cpp

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

#include <signal.h>

#include <atlasmv_base/AtlasmvMotionCommand.h>
#include <atlasmv_base/c_atlasmv.h>

#include <atlasmv_base/class_gamepad.h>
#include <math.h>

using namespace ros;
using namespace std;

atlasmv_base::AtlasmvMotionCommand command;
Publisher commandPublisherPtr;
bool in_reverse=false;
int last_value=-32768.;
Publisher commandPublisher;


void GamepadSearch(int value,void*parameters)
{
        atlasmv_base::AtlasmvMotionCommand command_local;

        if(value==1)
        {
                command_local.dir=0;
                command_local.speed=0.2;
                command_local.lifetime=INFINITY;
                command_local.priority=1;
                command_local.header.stamp=ros::Time::now();
                commandPublisher.publish(command_local);
        }
        else
        {
                command_local.dir=0;
                command_local.speed=0.0;
                command_local.lifetime=0.1;
                command_local.priority=1;
                command_local.header.stamp=ros::Time::now();
                commandPublisher.publish(command_local);
        }
        
}


void GamepadSpeed(int value,void*userdata)
{
        TYPE_atlasmv_public_params*p=(TYPE_atlasmv_public_params*)userdata;
        
        double speed=(((double)(value)/32768. + 1)/2);
        last_value=value;
        
        if(!in_reverse)
                speed=speed*p->max_forward_speed;
        else
                speed=speed*p->max_backward_speed;
        
        cout<<"speed: "<<speed<<endl;
        command.speed=speed;
        command.lifetime=1;//INFINITY;
        command.priority=3;
        command.header.stamp=ros::Time::now();
        commandPublisher.publish(command);
}

void GamepadReverse(int value,void*parameters)
{
        if(value)
                in_reverse=1;
        else
                in_reverse=0;
        command.priority=3;
        GamepadSpeed(last_value,parameters);
}

void GamepadDir(int value,void*userdata)
{
        TYPE_atlasmv_public_params*p=(TYPE_atlasmv_public_params*)userdata;
        
        double dir=((double)(-value)/32768.);
        
        if(dir>0)
                dir*=fabs(p->maximum_dir);
        else
                dir*=fabs(p->minimum_dir);

        command.dir=dir;
//      command.dir=0.0;
        command.lifetime=INFINITY;
        command.priority=3;
        command.header.stamp=ros::Time::now();
        commandPublisher.publish(command);
}

void GamepadZeroSteering(int value,void*userdata)
{
        command.dir=0;
        command.lifetime=INFINITY;
        command.priority=3;
        command.header.stamp=ros::Time::now();
        commandPublisher.publish(command);
}

void GamepadDisconnect(int value,void*userdata)
{
        command.dir=0;
        command.speed=0;
        command.lifetime=0.2;
        command.priority=3;
        command.header.stamp=ros::Time::now();
        commandPublisher.publish(command);
}

int main(int argc,char**argv)
{
        TYPE_atlasmv_public_params parameters;
        
        // Initialize ROS
        init(argc,argv,"atlasmv_command_publisher");
        
        NodeHandle nh("~");
        
        class_gamepad gamepad;
        
        char*dev=(char*)malloc(1024*sizeof(char));
        std::string dev_s;
        
        nh.param("maximum_dir", parameters.maximum_dir,0.355);
        nh.param("minimum_dir", parameters.minimum_dir,-0.38);
        nh.param("max_forward_speed", parameters.max_forward_speed,4.0);
        nh.param("max_backward_speed", parameters.max_backward_speed,-1.);
        nh.param("device_gamepad",dev_s,(std::string)"/dev/input/js0");
        
        strcpy(dev,dev_s.c_str());
        
        cout<<endl<<"Gamepad device: "<<dev_s<<endl;
        int ret=gamepad.StartComm(dev);
        gamepad.plerr(ret);
        
        //Search mode (advance at low speed with zero steering)
        ret=gamepad.RegisterCallback(gamepad.BUTTON,3,GamepadSearch,&parameters);
        gamepad.plerr(ret);
        
        //Reverse mode
        ret=gamepad.RegisterCallback(gamepad.BUTTON,0,GamepadReverse,&parameters);
        gamepad.plerr(ret);
        
        //Forward motion of the atlas robots
        ret=gamepad.RegisterCallback(gamepad.AXIS,5,GamepadSpeed,&parameters);
        gamepad.plerr(ret);
        
        //Forward motion of the atlas robots
        ret=gamepad.RegisterCallback(gamepad.BUTTON,6,GamepadDisconnect,&parameters);
        gamepad.plerr(ret);
        
        //Forward motion of the atlas robots
        ret=gamepad.RegisterCallback(gamepad.BUTTON,7,GamepadDisconnect,&parameters);
        gamepad.plerr(ret);
        
        //Forward motion of the atlas robots
        ret=gamepad.RegisterCallback(gamepad.BUTTON,2,GamepadZeroSteering,&parameters);
        gamepad.plerr(ret);
        
        //Direction of the atlas robots
        ret=gamepad.RegisterCallback(gamepad.AXIS,0,GamepadDir,&parameters);
        gamepad.plerr(ret);
        
        /*Publisher*/ commandPublisher = nh.advertise<atlasmv_base::AtlasmvMotionCommand>("/atlasmv/base/motion", 1000);
        commandPublisherPtr=commandPublisher;
        
        command.lifetime=INFINITY;
        
        
        Rate r(50);//Hz
        
        while(ros::ok())//quits on SIGINT
        {
                gamepad.Dispatch(0);
//              cout<<command<<endl;
                spinOnce();     
                r.sleep();
        }
}