orientation_base.cpp

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#include <iostream>
#include <pthread.h>

#include <math.h>   
#include <string>
#include <sstream>
#include <fstream>
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
#include <iostream>

#include <boost/asio.hpp>
#include <boost/array.hpp>
#include <boost/thread.hpp>
#include <boost/asio/ip/tcp.hpp>
#include <boost/thread/mutex.hpp>
#include <boost/thread/locks.hpp>
#include <boost/thread/thread.hpp>

#include <ros/ros.h>

#include <visualization_msgs/Marker.h>
#include <visualization_msgs/MarkerArray.h>

#include <Eigen/Dense>
#include <Eigen/Geometry>

#include <serialcom/BufferedAsyncSerial.h>

#include <opencv2/core/core.hpp>
#include <opencv2/highgui/highgui.hpp>

#include <sensor_msgs/Range.h>
#include <ros/package.h>

using namespace std;
using namespace boost;
// Class to defini the plane coeficients
class Plane
{   
    
public:
    Plane()
    {
        a=0;b=0;c=0;d=0;
    }
    
    double a,b,c,d;
};

class SharpMath
{
public:
    SharpMath()
    {

    }
    
    void readParameters(string parameters_file)
    {
        cv::FileStorage parameters(parameters_file.c_str(),cv::FileStorage::READ);
        
        number_sensors = (int)parameters["number_sensors"];
        
        cout<<"number_sensors: "<<number_sensors<<endl;
        for(uint s = 0;s<number_sensors;s++)
        {
            Eigen::Vector2d pos;
            
            pos(0) = parameters["x"+to_string(s)];
            pos(1) = parameters["y"+to_string(s)];
            
            sensors_positions.push_back(pos);
            
            Eigen::VectorXd curve(4);

            curve(0) = parameters["p1_"+to_string(s)];
            curve(1) = parameters["p2_"+to_string(s)];
            curve(2) = parameters["p3_"+to_string(s)];
            curve(3) = parameters["p4_"+to_string(s)];
          
            sensors_curve_parameters.push_back(curve);
        }
        cout<<"Reed parameters: "<<sensors_curve_parameters.size()<<endl;
        pitch_bias = parameters["pitch_bias"];
        roll_bias =  parameters["roll_bias"];
    }
    
    double convertoV(double A)
    {
        return A*5/1023;    
    }
    
    double curveCalibration(uint sensor_id, double value)
    {
        Eigen::VectorXd curve_parameters = sensors_curve_parameters[sensor_id];
        double a = curve_parameters(0);
        double b = curve_parameters(1);
        double c = curve_parameters(2);
        double d = curve_parameters(3);
        
//         cout << "a: " << a << "b: " << b << "c: " << c << "d: " << d << "valor: " << a*exp(b*value)+c*exp(d*value) << endl;
        
        return a*exp(b*value)+c*exp(d*value);
    }

//     Plane getPlane(vector<double> values)
//     {
//         Eigen::VectorXd g(values.size());
//         g = Eigen::VectorXd::Ones(values.size());
//         
//         cout<<"g: "<<g<<endl;
//         
//         Eigen::MatrixXd F(values.size(),3);
//         
//         for(uint i=0;i<values.size();i++)
//         {
//             F(i,0) = sensors_positions[i](0);
//             F(i,1) = sensors_positions[i](1);
//             F(i,2) = values[i];
//         }
//         
//         Eigen::VectorXd r(3);
//         
//         r = ((F.transpose()*F).inverse() * F.transpose())*g;
//         
//         double zp = ((-r(0)/r(2))*sensors_positions[0](0)) - ((r(1)/r(2))*sensors_positions[0](1));
//         
//         double d = values[0] - zp;
//         double a = r(0)*d;
//         double b = r(1)*d;
//         double c = r(2)*d;
//         
//         Plane temp;
//         
//         temp.a=a;
//         temp.b=b;
//         temp.c=c;
//         temp.d=d;
//         
//         return temp;
//     }
    
//     double getPitch( Plane p)
//     {
//         double a, b, c, d;
//         a=p.a;
//         b=p.b;
//         c=p.c;
//         d=p.d;
//         return ((180./M_PI)*(atan2(d,(d*c/a)))) - pitch_bias;        
//     }
//     double getRoll( Plane p)
//     {
//         double a, b, c, d;
//         a=p.a;
//         b=p.b;
//         c=p.c;
//         d=p.d;
//         return ((180./M_PI)*(atan2(d,(d*c/b)))) - roll_bias;    
//     }
    
    
private:
    
    uint number_sensors;
    vector<Eigen::Vector2d> sensors_positions;
    vector<Eigen::VectorXd> sensors_curve_parameters;
    
    double pitch_bias;
    double roll_bias;
    
};
class OptoelectricVehiclePose
{
public:
    OptoelectricVehiclePose(const ros::NodeHandle& nh):
    nh_(nh),
    serial("/dev/ttyACM0",115200)
    {
        
        outfile1.open(("/home/carpinteiro/workingcopies/lar4/src/sensors/optoelectric/data/Sensors_bag.txt"));
        // iniciar mensagens
        setupMessaging();
                
        string parameters_url;
        
        nh_.param("parameters",parameters_url,std::string("no parameters file"));
        
        string package_tag = "package://";
        int pos = parameters_url.find(package_tag);
        if(pos != string::npos)
        {
            //String contains package, replace by package path
            int fpos = parameters_url.find("/",pos+package_tag.length());
            string package = parameters_url.substr(pos+package_tag.length(),fpos-(pos+package_tag.length()));
            
            string package_path = ros::package::getPath(package);
            parameters_url.replace(pos,fpos-pos,package_path);
        }

        cout << "url: " << parameters_url << endl;
        
        s.readParameters(parameters_url);
        // iniciar leitura dos dados yaml
    }
    // Inicia os publicadores e os subscrevedores
    void setupMessaging()
    {
        
        // advertive da ship_move_requests para posição desejada
        for(uint i=0;i<8;i++)
        {
            ros::Publisher pub = nh_.advertise<sensor_msgs::Range>("sharp_"+to_string(i), 1000);
            publishers.push_back(pub);
        }
    }
    // Inicia a leitura do serial port

    bool checkMessageIntegrety(string msg)
    {
        bool is_valid = true;
        
        if(msg.length()==0)
            return false;
        
        if(msg.find("A0 ")==string::npos)
            is_valid = false;
        
        if(msg.find("A1 ")==string::npos)
            is_valid = false;
        
        if(msg.find("A2 ")==string::npos)
            is_valid = false;
        
        if(msg.find("A3 ")==string::npos)
            is_valid = false;
        
        if(msg.find("A4 ")==string::npos)
            is_valid = false;
        
        if(msg.find("A5 ")==string::npos)
            is_valid = false;
        
        if(msg.find("A6 ")==string::npos)
            is_valid = false;
        
        if(msg.find("A7 ")==string::npos)
            is_valid = false;
        
        return is_valid;
    }
    void loop()
    {
        ros::Rate r(100);
        
        while(ros::ok())
        {
            ros::spinOnce();
            r.sleep();
            
            string line = serial.readStringUntil("\n");
            
            if(checkMessageIntegrety(line)==false)
            {
//                 cout<<"Error: Invalid message ("<<line.length()<<"): "<<line<<endl;
                continue;
            }
            
            cout<<endl;
            cout<<"line: "<<endl;
            cout<<line<<endl;
            cout<<"size: "<<line.length()<<endl;
            
            int readings[8];
            int values_reed = sscanf(line.c_str(),"%*s %d %*s %d %*s %d %*s %d %*s %d %*s %d %*s %d %*s %d",&readings[0],&readings[1],&readings[2],&readings[3],&readings[4],&readings[5],&readings[6],&readings[7]);
            
            cout << "leituras: " << readings[0] << " " <<readings[1] << " " <<readings[2] << " " <<readings[3] << " " <<readings[4] << " " <<readings[5] << " " <<readings[6] << " " <<readings[7] << " " << endl; 
            
            if(values_reed != 8)
            {
                cout<<"Failed to read all 8 values"<<endl;
                cout<<"Read: "<<values_reed<<endl;
                perror("Error");
            }
            
            vector<double> values;
            for(int i=0;i<values_reed;i++)
            {
                double voltage = s.convertoV(readings[i]);
                double value = s.curveCalibration(i,voltage);
                values.push_back(value);
            }
            // Publicar sensores
            
            for(uint i=0;i<values.size();i++)
            {
                sensor_msgs::Range msg;
                msg.range=values[i];
                msg.header.stamp = ros::Time::now();
                msg.header.frame_id = "sharp_"+to_string(i);
                cout << "msg: " << msg.range << endl;
                publishers[i].publish(msg);
            }
            
            outfile1<<ros::Time::now()<<" ";
            
            for(uint i=0;i<8;i++)
            {
                if(i<values.size())
                    outfile1<<" "<<values[i];
                else
                    outfile1<<" NaN";
                
            }
            
            outfile1<<"\n";
            
//             Plane plane = s.getPlane(values);
//             
//             double pitch = s.getPitch(plane);
//             double roll = s.getRoll(plane);


        }
        
    }
        
private:
    
    ros::NodeHandle nh_;
    
    double pitch;
    double roll;
    
    ofstream outfile1;
    
    SharpMath s;
    BufferedAsyncSerial serial;
    
    vector<ros::Publisher> publishers;

};

int main(int argc, char* argv[])
{
    // Iniciar o ros
    ros::init(argc, argv, "orientation_base");
    // Handle
    ros::NodeHandle nh("~");
    
    // inciar
    OptoelectricVehiclePose opto(nh);
    
    opto.loop();
    
    return 0;
}