sensors_receiver.cpp

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#include <ros/ros.h>
#include "std_msgs/String.h"
#include <sstream>
#include <string>

//Include of message topic
#include <imu_network/raw_imu_message.h>
#include <imu_network/sensors_values.h>
#include <imu_network/sensors_network.h>

//INCLUDE SERIAL LIB FROM LAR3/utils
#include <serialcom/SerialCom.h>
#include <algorithm>

using namespace std;

int main (int argc ,char** argv)
{
    
    serialcom::SerialCom serial;
    
    ros::init(argc , argv , "sensors_raw_data");
    ros::NodeHandle n;
    ros::Publisher chatter_pub;
    chatter_pub = n.advertise<imu_network::sensors_network>("topic_raw_data", 1000);
    
    ros::Rate loop_rate(10);
    
    try
    {
        
        string number_buffer;
        string buffer_aux;
        string Ax,Ay,Az,Mx,My,Mz,Gx,Gy,Gz;
        string junk;
        int number,total_number;
        int numbered=0;
        string converter;
        
        serial.open("/dev/ttyACM0",115200);
        
        usleep(10000000);
        
                imu_network::sensors_network values;
        
        while (numbered == 0)
        {
          serial.write("#n");
          serial.readLine(&number_buffer,100);
          if ((count(number_buffer.begin(),number_buffer.end(),'N')) && (count(number_buffer.begin(),number_buffer.end(),',')) && (number_buffer.length()==3))
          {
              
              istringstream ssN(number_buffer);
              getline(ssN,junk,'N');
              getline(ssN,converter, ',');
              total_number = (int) atoi(converter.c_str());
              ROS_INFO("Comunicação iniciada com %d sensores",total_number);
              numbered = 1;
          }
          
        }
// init of message variable for total_number sensors
        for(int i=0;i<total_number;i++)
        {
          imu_network::sensors_values sensor;
          values.sensors_val.push_back(sensor);
        }
        
// reading and sort the variables of raw imu data & sending it within the message
        while(ros::ok())
        {
          
          string data[total_number];
          int ncsa[total_number];
          int ncsm[total_number];
          int ncsg[total_number];
          int na[total_number];
          int nm[total_number];
          int ng[total_number];

          string num[total_number];
          
          serial.flush();
          serial.write("#f");
          


          for (int c = 0; c<total_number;c++)
          {
              try
              {
                serial.readLine(&data[c],100);
        
              }catch(serialcom::Exception ex)
              
              {
                cout<<ex.what()<<endl;
              }
              
              ncsa[c]=count(data[c].begin(), data[c].end(), ',');
              
              na[c]=count(data[c].begin(), data[c].end(), 'A');
              nm[c]=count(data[c].begin(), data[c].end(), 'M');
              ng[c]=count(data[c].begin(), data[c].end(), 'G');

              // testing the content inside buffer
              if(ncsa[c]!=10)
              {
                exit(0);
              }
              else
              {
                
              }
// verify the sensor number to match with the for cicle
              istringstream ss(data[c]);
              getline(ss,junk,'A');
              num[c] = junk[1];
              if(c == (int)atoi(num[c].c_str()))
              {
// getting the raw imu data from buffer
                getline(ss,Ax, ',');
                getline(ss,Ay, ',');
                getline(ss,Az, ',');
                getline(ss,junk,'M');
                getline(ss,Mx, ',');
                getline(ss,My, ',');
                getline(ss,Mz, ',');
                getline(ss,junk,'G');
                getline(ss,Gx, ',');
                getline(ss,Gy, ',');
                getline(ss,Gz, ',');
                
              }
// storing the raw imu data into the message variables for total_number sensors
              values.sensors_val[c].S_Ax= (double) atof(Ax.c_str());
              values.sensors_val[c].S_Ay = (double) atof(Ay.c_str());
              values.sensors_val[c].S_Az = (double) atof(Az.c_str());
              
              values.sensors_val[c].S_Mx = (double) atof(Mx.c_str());
              values.sensors_val[c].S_My = (double) atof(My.c_str());
              values.sensors_val[c].S_Mz = (double) atof(Mz.c_str());
              
              values.sensors_val[c].S_Gx =(double)atof(Gx.c_str());
              values.sensors_val[c].S_Gy =(double)atof(Gy.c_str());
              values.sensors_val[c].S_Gz =(double)atof(Gz.c_str());
              
              values.sensors_val[c].total_number = total_number;
              values.sensors_val[c].header.stamp = ros::Time::now();
              values.sensors_val[c].number = (int)atoi(num[c].c_str());
              values.sensors_val[c].header.frame_id = "imu_raw";
              
          }
          chatter_pub.publish(values);
          loop_rate.sleep();
        }
//close COM after CTRL+C intercepted
        serial.close();
        
    }catch (std::exception& e)
    {
        std::cerr << "Exception: " << e.what() << "\n";
    }
    
    return 0;
    
}