human_driver_monitor.h

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#ifndef _HUMAN_DRIVER_MONITOR_H_
#define _HUMAN_DRIVER_MONITOR_H_

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

#include <human_driver_monitor/HumanDriverMonitorStatus.h>

#include <diagnostic_updater/diagnostic_updater.h>
#include <diagnostic_updater/publisher.h>
#include <boost/thread/thread.hpp>

#include <tcp_client/AsyncClient.h>
#include <boost/format.hpp>
#include <boost/thread/thread.hpp>
#include <boost/spirit/include/qi.hpp>
#include <boost/spirit/include/phoenix_core.hpp>
#include <boost/spirit/include/phoenix_operator.hpp>

using namespace std;

namespace human_driver_monitor
{

class HumanDriverMonitor
{
        public:
                HumanDriverMonitor(const ros::NodeHandle& nh,std::string ip,std::string port):
                server_ip_(ip),
                server_port_(port),
                nh_(nh),
                status_freq_("HumanDriverMonitor",updater_,diagnostic_updater::FrequencyStatusParam(&status_max_frequency_,&status_min_frequency_, 0.1, 10)),//The last two parameters correspond to the tolerance and window size
                status_max_frequency_(50.0),//The frequency values appear in hz
                status_min_frequency_(70.0),
                comm_(io_service_,server_ip_,server_port_)
                {}
                
                ~HumanDriverMonitor()
                {}
                
                void init()
                {
                        //Set diagnostics
                        updater_.setHardwareID("human driver monitor");
                        updater_.add("HumanDriverMonitor",this,&human_driver_monitor::HumanDriverMonitor::diagnostics);
                
                        //Setup the new data handler
                        comm_.readHandler.connect(boost::bind(&HumanDriverMonitor::newData,this,_1));
                
                        //Setup the on successful connection handler
                        comm_.connectHandler.connect(boost::bind(&HumanDriverMonitor::connectHandler,this));
                }
                
                void setupMessaging()
                {
                        status_pub_ = nh_.advertise<human_driver_monitor::HumanDriverMonitorStatus>("status", 1);
                }
                
                void loop()
                {
                        //Run io service on a different tread
                        boost::thread thread(boost::bind(&boost::asio::io_service::run, &io_service_));
                        
                        ros::Rate r(50);//Hz
                        
                        do
                        {
                                //Update the diagnostics tool
                                updater_.update();
                                //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();
                }

        protected:
                
                void connectHandler(void)
                {
                        try
                        {
                                comm_.write("start");
                        }catch(std::exception& e)
                        {
                                std::cout << "Exception: " << e.what() << "\n";
                        }
                }

                void newData(string data)
                {
                        //Erase the first 02 and the last 03 (stx and enx)
                        data.erase(0,1);
                        data.erase(data.end()-2,data.end());
                        
                        //Get info from message
                        
                        if(data[1]=='1')
                                status_.lights_high=1;
                        else
                                status_.lights_high=0;
                        
                        if(data[5]=='1')
                                status_.lights_medium=1;
                        else
                                status_.lights_medium=0;
                        
                        if(data[2]=='1')
                                status_.ignition=1;
                        else
                                status_.ignition=0;
                        
                        if(data[6]=='1')
                                status_.horn=1;
                        else
                                status_.horn=0;
                        
                        if(data[3]=='1')
                                status_.lights_left=1;
                        else
                                status_.lights_left=0;
                        
                        if(data[4]=='1')
                                status_.lights_right=1;
                        else
                                status_.lights_right=0;
                        
                        if(status_.lights_left && status_.lights_right)
                                status_.lights_danger=1;
                        else
                                status_.lights_danger=0;
                        
                        data.erase(0,7);
                        
                        //use boost spirit qi to parse the rest of the message
                        namespace qi = boost::spirit::qi;
                        using qi::omit;
                        using qi::int_;
                        using qi::char_;
                        using qi::ascii::space;
                        using qi::_1;
                        using boost::phoenix::ref;
                        
                        qi::phrase_parse(data.begin(),data.end(), 
                                                                                        omit[char_] >> int_[ref(status_.throttle_pressure) = _1] >>
                                                                                        omit[char_] >> int_[ref(status_.brake_pressure) = _1] >>
                                                                                        omit[char_] >> int_[ref(status_.clutch_pressure) = _1]
                                                                                        ,space);
                        
                        status_.header.stamp = ros::Time::now();
                        status_.header.frame_id = "";
                        status_pub_.publish(status_);
                        status_freq_.tick();
                }

                void diagnostics(diagnostic_updater::DiagnosticStatusWrapper& stat)
                {
                        if(!comm_.isConnected())
                        {
                                stat.summary(diagnostic_msgs::DiagnosticStatus::ERROR, "No connection to hardware.");
                                stat.add("Status",comm_.error_.message());
                                stat.add("Connecting to",server_ip_);
                                stat.add("Port number",server_port_);
                        }else
                        {
                                stat.summary(diagnostic_msgs::DiagnosticStatus::OK, "No problems.");
                                stat.add("Connected with",server_ip_);
                                stat.add("Port number",server_port_);
                                
                                boost::format fmt("%.2f");
                                fmt % (ros::Time::now()-status_.header.stamp).toSec();
                        
                                stat.add("Last message sent", fmt.str()+" seconds ago" );
                        }
                }

                std::string server_ip_;
                std::string server_port_;
                                
                ros::NodeHandle nh_;
                
                ros::Publisher status_pub_;
                
                human_driver_monitor::HumanDriverMonitorStatus status_;
                
                diagnostic_updater::Updater updater_;
                diagnostic_updater::HeaderlessTopicDiagnostic status_freq_;
                double status_max_frequency_;
                double status_min_frequency_;
                boost::asio::io_service io_service_;
                AsyncClient comm_;
};

}

#endif