recognition.cpp

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#include <driver_recognition/class_recognition.h>



class_recognition::TYPE_msg_partial partial_msg;

class_recognition::TYPE_msg_bags recognition;
FILE *fp;

int cria_txt(void)
{

   string nane_file;

    nane_file.append("../");
    nane_file.append(recognition.name_file);  
    nane_file.erase(nane_file.end()-4, nane_file.end());
    nane_file.append(".txt");

    fp = fopen(nane_file.c_str(),"a+"); //tenta ler o ficheiro já existente
    /* Verificar se a abertura foi feita com sucesso */

        if (fp==NULL) //Não consegue abir o ficheiro
        {
                cout<<"cannot open file: recognition_data.txt" <<endl;
                    return 1;
        }
        
        fprintf(fp,"%s \t %f \t %d \t %d \t %d \t %d \t %d \t %d \t %f \t %f \t %f\n",
              recognition.name_file.c_str(),
                recognition.bag_time,
              partial_msg.ignition,
              partial_msg.lights_left,
              partial_msg.lights_right,
              partial_msg.throttle,
              partial_msg.brake,
              partial_msg.clutch,
              partial_msg.velocity,
              partial_msg.steering_wheel,
              partial_msg.rpm);

                
     
     fclose(fp);

  return 0;
};




// void topic_callback_partial(atlascar_base::AtlascarPartialStatus AtlascarPartialStatus_msg)
//              {
//                              partial_msg.lights_high=AtlascarPartialStatus_msg.lights_high; 
//                              partial_msg.lights_medium=AtlascarPartialStatus_msg.lights_medium; 
//                              partial_msg.ignition=AtlascarPartialStatus_msg.ignition; 
//                              partial_msg.lights_left=AtlascarPartialStatus_msg.lights_left; 
//                              partial_msg.lights_right=AtlascarPartialStatus_msg.lights_right; 
//                              partial_msg.danger_lights=AtlascarPartialStatus_msg.danger_lights; 
//                              partial_msg.horn=AtlascarPartialStatus_msg.horn; 
//                              partial_msg.throttle=AtlascarPartialStatus_msg.throttle; 
//                              partial_msg.brake=AtlascarPartialStatus_msg.brake; 
//                              partial_msg.clutch=AtlascarPartialStatus_msg.clutch;
//                              recognition.bag_time=ros::Time::now().toSec();
//              };
// void topic_callback_velocity(atlascar_base::AtlascarVelocityStatus AtlascarVelocityStatus_msg)
//              {
//                              partial_msg.velocity=AtlascarVelocityStatus_msg.velocity;
//                              //uma vez que é a mensagem que chag mais tarde a ser actualizada achei por bem recolher os dqados na mesma frequencia, isto é 9hz, paso queira confirmar faça rostopic hz /vhc/driver/status
//                              
//                              cria_txt();
//              };
// void topic_callback_plc_status(atlascar_base::AtlascarStatus AtlascarStatus_msg)
//              {
//                              partial_msg.steering_wheel=AtlascarStatus_msg.steering_wheel;
//                              partial_msg.rpm=AtlascarStatus_msg.rpm;
// 
//                              
//              };
                
                
void topic_callback_rosout(rosgraph_msgs::Log rosout_msg)
                {
                        
                        if (rosout_msg.msg[0]=='O' && rosout_msg.msg[1]=='p'&& rosout_msg.msg[2]=='e'&& rosout_msg.msg[6]=='g')
                        {
                                char name_file[1024];
                                
                                string names;
                                
                                sscanf(rosout_msg.msg.c_str(),"%*s %s",name_file); 
                                
                                
                                recognition.name_file=name_file;
                                

                        }
                };

void   create_head_of_file(void)
{
  
  fp = fopen("../recognition_data.txt","a+"); //tenta ler o ficheiro já existente
                                 
    fprintf(fp,"%s \t %s \t %s  \t %s \t %s \t %s       \t %s \t %s \t %s       \t %s \t %s\n",
              "name of file" ,
              "bag time",
              "ignition",            
              "lights_left",
              "lights_right",
              "throttle",            
              "brake",
              "clutch",
              "velocity",            
              "steering_wheel",
              "rpm");
  fclose(fp);
}


int main (int argc, char **argv)
{
  ROS_INFO("Starting recognition_data node.");
  
  create_head_of_file();
  
  ros::init(argc,argv,"recognition"); 
  ros::NodeHandle n;

  ROS_ERROR("AtlascarStatus and AtlascarVelocityStatus no longer avaliable, please correct!!");
//   ros::Subscriber sub = n.subscribe("/mtt/targets", 1, topic_callback);
//   ros::Subscriber sub_status_plc = n.subscribe("/vhc/plc/status", 1, topic_callback_plc_status);
//   ros::Subscriber sub_partial_status = n.subscribe("/vhc/driver/status", 1, topic_callback_partial);
//   ros::Subscriber sub_velocity_status = n.subscribe("/vhc/velocity/status", 1, topic_callback_velocity);
  ros::Subscriber sub_rosout =n.subscribe("/rosout_agg", 1, topic_callback_rosout);
//   ros::Subscriber sub_status_plc = n.subscribe("/atc/base/status/plc", 1, topic_callback_plc_status);
//   ros::Subscriber sub_partial_status = n.subscribe("/partial_status", 1, topic_callback_partial);
//   ros::Subscriber sub_velocity_status = n.subscribe("/velocity_status", 1, topic_callback_velocity);
 

  ros::spin();
  
  return 1;
}