phidgets_readdata_synchronous.cpp

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#include "ros/ros.h"
#include <mtt/TargetList.h>
#include <sensor_msgs/Range.h>
#include <pressure_cells/SenVal.h>
#include <odometer/OdometerStatus.h>
#include "cmath"
#include <iostream>
#include <vector>
#include <boost/thread.hpp>
#include <boost/shared_ptr.hpp>
#include <fstream>
#include <iostream>

using namespace std;

// void  laserGather(const mtt::TargetList& msg)
// {
//      for(int i=0; i<msg.Targets.size();i++)
//      {
//         if (msg.Targets[i].velocity.linear.x >= 0.05)
//         {
//             if (msg.Targets[i].id == 302 || msg.Targets[i].id == 27)
//             {     
//                 cout << "Time: " << msg.Targets[i].header.stamp << " | ID: " << msg.Targets[i].id << " | VEL: " << msg.Targets[i].velocity.linear.x << endl;
//                 
//                 ofstream file("/media/Data/Data_Record/velocity.txt",ios::app);
//                 
//                 file << "Time: " << msg.Targets[i].header.stamp << " | ID: " << msg.Targets[i].id << " | VEL: " << msg.Targets[i].velocity.linear.x << endl;
//                                
//                 file.close(); 
//         
//             }
//         }
//      }       
// }

void  forcevalGather(const pressure_cells::SenVal& msg)
{
//     cout << msg.header.stamp << ":LC 1:" << msg.sen1 << ":FSR 1:" << msg.sen3 << endl;
//     cout << msg.header.stamp << ":LC 2:" << msg.sen2 << ":FSR 1:" << msg.sen4 << endl;
    ofstream file("/media/Data/Data_Record/newtests/force_data.txt",ios::app);  
    file << "Time:" << msg.header.stamp << ":LC1:" << msg.sen1 << ":FSR1:" << msg.sen3 << ":LC2:" << msg.sen2 << ":FSR2:" << msg.sen4 << endl;               
    file.close(); 
}

void  ir1Gather(const sensor_msgs::Range& msg)
{
//     cout << msg.header.stamp << " IR1: " << msg.range << endl;
    ofstream file("/media/Data/Data_Record/newtests/ir1_data.txt",ios::app);  
    file << "Time:" << msg.header.stamp << ":IR1:" << msg.range << endl;               
    file.close();
}

void  ir2Gather(const sensor_msgs::Range& msg)
{
//     cout << msg.header.stamp << " IR2: " << msg.range << endl;
    ofstream file("/media/Data/Data_Record/newtests/ir2_data.txt",ios::app);  
    file << "Time:" << msg.header.stamp << ":IR2:" << msg.range << endl;               
    file.close();
}

void  odometerGather(const odometer::OdometerStatus& msg)
{
//     cout << msg.header.stamp << " Velocity: " << msg.velocity << endl;
    
    ofstream file("/media/Data/Data_Record/newtests/odometer_data.txt",ios::app);    
    file << "Time:" << msg.header.stamp << ":VEL:" << msg.velocity << endl;                    
    file.close(); 
}

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

    ros::init(argc, argv, "data_gather");
    
    ros::NodeHandle n;

//     ros::Subscriber laser_data = n.subscribe("/targets", 1000, laserGather);
    ros::Subscriber forceval_data = n.subscribe("/pedal_monitor/ForceVal", 1000, forcevalGather);
    ros::Subscriber ir1_data = n.subscribe("/pedal_monitor/IR_1", 1000, ir1Gather);
    ros::Subscriber ir2_data = n.subscribe("/pedal_monitor/IR_2", 1000, ir2Gather);
    ros::Subscriber odometer_data = n.subscribe("/pedal_monitor/odometer", 1000, odometerGather);
    
    
    
    ros::spin();

    return 0;
}