accelerometer_network_calibration.cpp
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27 
34 #include <ros/ros.h>
35 #include "std_msgs/String.h"
36 #include <sstream>
37 #include <string>
38 #include <iostream>
39 #include <vector>
40 //Include the message topic
41 #include <imu_network/raw_imu_message.h>
42 #include <imu_network/sensors_values.h>
43 #include <imu_network/sensors_network.h>
44 
45 //INCLUDE SERIAL LIB FROM LAR3/utils
46 #include <serialcom/SerialCom.h>
47 #include <algorithm>
48 
49 using namespace std;
50 
51 vector<float> accel_max[3];
52 vector<float> accel_min[3];
53 
58 int main (int argc ,char** argv)
59 {
60 
61  serialcom::SerialCom serial;
62 
63  ros::init(argc , argv , "accel_network_calibration");
64  ros::NodeHandle n;
65 
66  ros::Rate loop_rate(10);
67 
68  try
69  {
70  string number_buffer;
71  string buffer_aux;
72  string Ax,Ay,Az,Mx,My,Mz,Gx,Gy,Gz;
73  string junk;
74  int number,total_number;
75  int numbered=0;
76  string converter;
77 
78  serial.open("/dev/ttyACM0",115200);
79 
80  usleep(10000000);
81 
82  while (numbered == 0)
83  {
84  serial.write("#n");
85  serial.readLine(&number_buffer,100);
86  if ((count(number_buffer.begin(),number_buffer.end(),'N')) && (count(number_buffer.begin(),number_buffer.end(),',')) && (number_buffer.length()==3))
87  {
88 
89  istringstream ssN(number_buffer);
90  getline(ssN,junk,'N');
91  getline(ssN,converter, ',');
92  total_number = (int) atoi(converter.c_str());
93  ROS_INFO("Comunicação iniciada com %d sensores",total_number);
94  numbered = 1;
95  }
96 
97  }
98  // init the accel_max/min variables
99  for(int i=0;i<total_number;i++)
100  {
101  accel_max[0].push_back(0);
102  accel_min[0].push_back(0);
103  accel_max[1].push_back(0);
104  accel_min[1].push_back(0);
105  accel_max[2].push_back(0);
106  accel_min[2].push_back(0);
107  }
108 
109  // reading and sort the variables of raw imu data & sending it within the message
110  while(ros::ok())
111  {
112 
113  string data[total_number];
114  int ncsa[total_number];
115  int ncsm[total_number];
116  int ncsg[total_number];
117  int na[total_number];
118  int nm[total_number];
119  int ng[total_number];
120 
121  string num[total_number];
122 
123  serial.flush();
124  // ask for IMU data
125  serial.write("#f");
126 
127 
128 
129  for (int c = 0; c<total_number;c++)
130  {
131  try
132  {
133  serial.readLine(&data[c],100);
134 
135  }catch(serialcom::Exception ex)
136 
137  {
138  cout<<ex.what()<<endl;
139  }
140 
141  ncsa[c]=count(data[c].begin(), data[c].end(), ',');
142 
143  na[c]=count(data[c].begin(), data[c].end(), 'A');
144  nm[c]=count(data[c].begin(), data[c].end(), 'M');
145  ng[c]=count(data[c].begin(), data[c].end(), 'G');
146 
147  // testing the content inside buffer
148  if(ncsa[c]!=10)
149  {
150  exit(0);
151  }
152  else
153  {
154 
155  }
156  // verify the sensor number to match with the for cicle
157  istringstream ss(data[c]);
158  getline(ss,junk,'A');
159  num[c] = junk[1];
160  if(c == (int)atoi(num[c].c_str()))
161  {
162  // getting the raw imu data from buffer
163  getline(ss,Ax, ',');
164  getline(ss,Ay, ',');
165  getline(ss,Az, ',');
166  getline(ss,junk,'M');
167  getline(ss,Mx, ',');
168  getline(ss,My, ',');
169  getline(ss,Mz, ',');
170  getline(ss,junk,'G');
171  getline(ss,Gx, ',');
172  getline(ss,Gy, ',');
173  getline(ss,Gz, ',');
174 
175  }
176 
177  if (((double) atof(Ax.c_str())) > accel_max[0][c]) accel_max[0][c] = (double) atof(Ax.c_str());
178  if (((double) atof(Ay.c_str())) > accel_max[1][c]) accel_max[1][c] = (double) atof(Ay.c_str());
179  if (((double) atof(Az.c_str())) > accel_max[2][c]) accel_max[2][c] = (double) atof(Az.c_str());
180 
181  if (((double) atof(Ax.c_str())) < accel_min[0][c]) accel_min[0][c] = (double) atof(Ax.c_str());
182  if (((double) atof(Ay.c_str())) < accel_min[1][c]) accel_min[1][c] = (double) atof(Ay.c_str());
183  if (((double) atof(Az.c_str())) < accel_min[2][c]) accel_min[2][c] = (double) atof(Az.c_str());
184 
185 
186  cout<<"Sensor "<<c<<" -->> AxMAX="<<accel_max[0][c]<<" AyMAX="<<accel_max[1][c]<<" AzMAX="<<accel_max[2][c]<<endl;
187  cout<<"Sensor "<<c<<" -->> AxMIN="<<accel_min[0][c]<<" AyMIN="<<accel_min[1][c]<<" AzMIN="<<accel_min[2][c]<<endl;
188 
189  // storing the raw imu data into the message variables for total_number sensors
190 // values.sensors_val[c].S_Ax= (double) atof(Ax.c_str());
191 // values.sensors_val[c].S_Ay = (double) atof(Ay.c_str());
192 // values.sensors_val[c].S_Az = (double) atof(Az.c_str());
193 //
194 // values.sensors_val[c].S_Mx = (double) atof(Mx.c_str());
195 // values.sensors_val[c].S_My = (double) atof(My.c_str());
196 // values.sensors_val[c].S_Mz = (double) atof(Mz.c_str());
197 //
198 // values.sensors_val[c].S_Gx =(double)atof(Gx.c_str());
199 // values.sensors_val[c].S_Gy =(double)atof(Gy.c_str());
200 // values.sensors_val[c].S_Gz =(double)atof(Gz.c_str());
201 //
202 // values.sensors_val[c].total_number = total_number;
203 // values.sensors_val[c].header.stamp = ros::Time::now();
204 // values.sensors_val[c].number = (int)atoi(num[c].c_str());
205 // values.sensors_val[c].header.frame_id = "imu_raw";
206 
207  }
208 // chatter_pub.publish(values);
209  loop_rate.sleep();
210  }
211  //close COM after CTRL+C intercepted
212  serial.close();
213 // for (int fin = 0 ; fin<total_number ;fin++)
214 // {
215 // cout<<endl<<"RESULTADOS FINAIS..."<<endl;
216 // cout<<"Sensor "<<fin<<" -->> AxMAX="<<accel_max[0][fin]<<" AyMAX="<<accel_max[1][fin]<<" AzMAX="<<accel_max[2][fin]<<endl;
217 // cout
218 // cout<<"Sensor "<<fin<<" -->> AxMIN="<<accel_min[0][fin]<<" AyMIN="<<accel_min[1][fin]<<" AzMIN="<<accel_min[2][fin]<<endl;
219 // }
220 
221  }catch (std::exception& e)
222  {
223  std::cerr << "Exception: " << e.what() << "\n";
224  }
225 
226  return 0;
227 
228 }
main
int main(int argc, char **argv)
Definition: accelerometer_network_calibration.cpp:58
accel_min
vector< float > accel_min[3]
Definition: accelerometer_network_calibration.cpp:52
accel_max
vector< float > accel_max[3]
Definition: accelerometer_network_calibration.cpp:51
n
ros::NodeHandle * n
Definition: complementary_filter.cpp:56

imu_network
Author(s): Telmo Rafeiro
autogenerated on Mon Mar 2 2015 01:31:44