laser_rotate3D.cpp

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/*
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 *
 *  Copyright (c) 2011 LAR-DEM-University of Aveiro.
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*/

#ifndef _LASER_ROTATE3D_CPP_
#define _LASER_ROTATE3D_CPP_

//system includes

#include <termios.h>
#include <stdio.h>
#include <fcntl.h>
#include <termio.h>
#include <unistd.h>
#include <stdlib.h>
#include <sys/ioctl.h>
#include <stdint.h>
#include <stdlib.h>

#include <string.h>
#include <errno.h>
#include <math.h>
#include <poll.h>
#include <signal.h>
#include <iostream>
#include <fstream>

// ROS
#include <ros/ros.h>
#include <sensor_msgs/JointState.h>
#include <std_msgs/String.h>
#include <tf/transform_broadcaster.h>

//LAR3 includes
#include <serialcom/SerialCom.h>

//Local includes
#include <laser_rotate_3d/laser_rotate3D.h>

//using namespace std;

//void RotateLaser::RotateLaserCallback(std::string* readdata)
// this function is called back once the readline thread is invoked
//void RotateLaserCallback(std::string* readdata)
//{
//              int thesize;
//              thesize = readdata->size();
//              // for now print on screen what has been read
//              printf("string size %s \n", readdata->c_str());//readdata->c_str);
//      
                // have to pass the information in order to safely allow publishing
        
//};

int main(int argc, char ** argv)
{

        ros::init(argc,argv,"RotateLaser");
        ros::Time::init(); // only to be used in testing and standalone.
        ros::Rate loop_rate(200); //it was 100
        
        //int baudrate = 9600;
        
        // instatiate the RotateLaser
        RotateLaser RotateTheLaser;

        /* assign a callback for reading the serial port: use binding because we are
                invoking a member function and boost does not support that directly
        http://www.boost.org/doc/libs/1_48_0/doc/html/function/tutorial.html
        http://www.boost.org/doc/libs/1_48_0/libs/bind/bind.html#with_member_pointers */
        RotateTheLaser.BoostRotateLaserCallback = std::bind1st(std::mem_fun(&RotateLaser::RotateLaserCallback), &RotateTheLaser); //&RotateLaserCallback;

        // has to read from the PIC via serial port and publish
        // start a thread for reading the serial port
        RotateTheLaser.ReadLinesSerialPort(RotateTheLaser.BoostRotateLaserCallback);
        

//      while(ros::ok()) //this was uncomment
//      {                                       //this was uncomment
        ros::spin();
//              printf("this is %s \n", "test");
//              RotateTheLaser.SendCommand();
//              RotateTheLaser.Publish(); // this will publish the angle at the desired rate //this was uncomment
//              ros::spinOnce();                                                                                                                                //this was uncomment
//              loop_rate.sleep();                                                                                                                              //this was uncomment
//      };
        
        return 0;
        
}

#endif //EOF