force_cop.cpp

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#include <ros/ros.h>
#include <std_msgs/Time.h>
#include <geometry_msgs/PointStamped.h>
#include <visualization_msgs/Marker.h>
#include <tf/transform_listener.h>

#include <sys/types.h>
#include <unistd.h>
#include <stdlib.h>

#include <stdio.h>
#include <stdlib.h>

#include <pressure_cells/SenVal.h>
#include <pressure_cells/Cop.h>
#include <pressure_cells/arduino.h>


vector< geometry_msgs::PointStamped > p_origins_l(4), p_origins_r(4);
bool ok1, ok2;
ros::Publisher pub_cop1, pub_cop2;
pressure_cells::Cop COP1, COP2, COP;
double g_sen1[4], g_sen2[4];
ros::Publisher pub_viz;
ros::Publisher pub_cop;
bool g_viz=0, g_lev=0;
string tf_feet_l;
string tf_feet_r;


void SenVal1CallBk ( const pressure_cells::SenVal & senval )
{
    g_sen1[0] = senval.sen1;
    g_sen1[1] = senval.sen2;
    g_sen1[2] = senval.sen3;
    g_sen1[3] = senval.sen4;
    
    COP1.copx=0;
    COP1.copy=0;
    
    for ( uint i = 0; i < 4; i++ )
    {
        COP1.copx += g_sen1[i] * p_origins_l[i].point.x;
        COP1.copy += g_sen1[i] * p_origins_l[i].point.y;
    }
    COP1.copx = COP1.copx / (g_sen1[0] + g_sen1[1] + g_sen1[2] + g_sen1[3]);
    
    COP1.copy= COP1.copy / (g_sen1[0] + g_sen1[1] + g_sen1[2] + g_sen1[3]);
    
    COP1.header.stamp = ros::Time::now (  );
    pub_cop1.publish(COP1);
    //cout<<"COP1 X = "<<COP1.copx<<"\t COP1 Y = "<<COP1.copy<<endl;
    ok1 = 1;
    
    if(!g_viz) return;

    visualization_msgs::Marker Cop_l;

    // COP Left
    Cop_l.header.frame_id = tf_feet_l;
    Cop_l.header.stamp = ros::Time::now();
    Cop_l.ns = "Cop_l";
    Cop_l.id = 0;
    Cop_l.type = visualization_msgs::Marker::SPHERE;
    Cop_l.action = visualization_msgs::Marker::ADD;
    Cop_l.scale.x = 0.02;
    Cop_l.scale.y = 0.02;
    Cop_l.scale.z = 0.02;
    Cop_l.color.a = 1.0;
    Cop_l.color.r = 0.0;
    Cop_l.color.g = 0.0;
    Cop_l.color.b = 0.0;
    
    Cop_l.pose.position.x = COP1.copx;
    Cop_l.pose.position.y = COP1.copy;
    Cop_l.pose.position.z = 0;
    Cop_l.pose.orientation.x = 0.0;
    Cop_l.pose.orientation.y = 0.0;
    Cop_l.pose.orientation.z = 0.0;
    Cop_l.pose.orientation.w = 1.0;
    
    pub_viz.publish( Cop_l );
}

void SenVal2CallBk ( const pressure_cells::SenVal & senval )
{
    g_sen2[0] = senval.sen1;
    g_sen2[1] = senval.sen2;
    g_sen2[2] = senval.sen3;
    g_sen2[3] = senval.sen4;

    COP2.copx=0;
    COP2.copy=0;
    
    for ( uint i = 0; i < 4; i++ )
    {
        COP2.copx += g_sen2[i] * p_origins_r[i].point.x;
        COP2.copy += g_sen2[i] * p_origins_r[i].point.y;
    }
    //cout<<"COP.copx = "<<COP2.copx<<"\t COP.copy"<<COP2.copx<<endl;
    COP2.copx = COP2.copx / (g_sen2[0] + g_sen2[1] + g_sen2[2] + g_sen2[3]);
    
    COP2.copy = COP2.copy / (g_sen2[0] + g_sen2[1] + g_sen2[2] + g_sen2[3]);
    
    COP2.header.stamp = ros::Time::now (  );
    pub_cop2.publish(COP2);
    ok2 = 1;
    
    if(!g_viz) return;

    visualization_msgs::Marker Cop_r;
    
    // COP Rigth
    Cop_r.header.frame_id = tf_feet_r;
    Cop_r.header.stamp = ros::Time::now();
    Cop_r.ns = "Cop_r";
    Cop_r.id = 0;
    Cop_r.type = visualization_msgs::Marker::SPHERE;
    Cop_r.action = visualization_msgs::Marker::ADD;
    Cop_r.scale.x = 0.02;
    Cop_r.scale.y = 0.02;
    Cop_r.scale.z = 0.02;
    Cop_r.color.a = 1.0;
    Cop_r.color.r = 0.0;
    Cop_r.color.g = 0.0;
    Cop_r.color.b = 0.0;

    Cop_r.pose.position.x = COP2.copx;
    Cop_r.pose.position.y = COP2.copy;
    Cop_r.pose.position.z = 0;
    Cop_r.pose.orientation.x = 0.0;
    Cop_r.pose.orientation.y = 0.0;
    Cop_r.pose.orientation.z = 0.0;
    Cop_r.pose.orientation.w = 1.0;

    pub_viz.publish( Cop_r );
}

int main ( int argc, char **argv )
{
    
    //std::cout<<"CENAS 1"<<std::endl;
    uint i;
    double sen[8];

    //std::cout<<"CENAS 2"<<std::endl;
    p_origins_l[0].point.x = 0.044;
    p_origins_l[1].point.x = 0.044;
    p_origins_l[2].point.x = -0.046;
    p_origins_l[3].point.x = -0.046;
    p_origins_l[0].point.y = 0.022;
    p_origins_l[1].point.y = -0.022;
    p_origins_l[2].point.y = -0.023;
    p_origins_l[3].point.y = 0.023;
    
    p_origins_r[0].point.x = 0.044;
    p_origins_r[1].point.x = 0.044;
    p_origins_r[2].point.x = -0.046;
    p_origins_r[3].point.x = -0.046;
    p_origins_r[0].point.y = 0.022;
    p_origins_r[1].point.y = -0.022;
    p_origins_r[2].point.y = -0.023;
    p_origins_r[3].point.y = 0.023;

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

    tf::TransformListener lt;
    tf::StampedTransform trans_feet;
    
    // frame for left feet
    
    string tf_feet_l_default = "tf_default_feet_l";
    n.param( "tf_feet_l", tf_feet_l, tf_feet_l_default );
    // frame for right feet
    string tf_feet_r_default = "tf_default_feet_r";
    n.param( "tf_feet_r", tf_feet_r, tf_feet_r_default );
    
    // set marker publisher name
    string markers;
    string markers_default = "default_markers";
    n.param("markers", markers, markers_default );

    std::string check_markers;
    n.getParam("markers", check_markers);
    
    if (check_markers!=markers_default)
    {
        g_viz=1;
        
        ROS_INFO("Setting markers parameter to %s", check_markers.c_str());
    }

    // feet at same level
    string feet_level;
    string feet_level_default = "feet_level_default";
    n.param( "feet_level", feet_level, feet_level_default );
    
    std::string check_level;
    n.getParam("feet_level", check_level);
    
    if (check_level!=feet_level_default)
    {
        g_lev=1;
        ROS_INFO("Setting feet level parameter to %s", check_level.c_str());
    }
    
    pub_cop1 = n.advertise < pressure_cells::Cop > ( "/cop1", 1000 );
    pub_cop2 = n.advertise < pressure_cells::Cop > ( "/cop2", 1000 );
    
    ros::Subscriber sub_msg1 = n.subscribe ( "/msg1", 1000, SenVal1CallBk );
    ros::Subscriber sub_msg2 = n.subscribe ( "/msg2", 1000, SenVal2CallBk );
    
    ros::Rate loop_rate ( 2.5*1300 );

    if(g_lev) pub_cop = n.advertise < pressure_cells::Cop > ( "/cop", 1000 );
    if(g_viz) pub_viz = n.advertise<visualization_msgs::Marker>( markers, 0 );

    
    p_origins_l[0].header.frame_id=tf_feet_l;
    p_origins_l[1].header.frame_id=tf_feet_l;
    p_origins_l[2].header.frame_id=tf_feet_l;
    p_origins_l[3].header.frame_id=tf_feet_l;
    
    p_origins_r[0].header.frame_id=tf_feet_r;
    p_origins_r[1].header.frame_id=tf_feet_r;
    p_origins_r[2].header.frame_id=tf_feet_r;
    p_origins_r[3].header.frame_id=tf_feet_r;
    //std::cout<<"Frame points right -> "<<p_origins_r[3].header.frame_id<<std::endl;

    int pid = getpid(), rpid;

    boost::format fmt("sudo renice -10 %d");
    fmt % pid;
    
    rpid = std::system(fmt.str().c_str());
    
    while ( ros::ok (  ) )
    {
        
        if ( ( ok2 && ok1 ) == 1  && g_lev)
        {
            ok1 = 0;
            ok2 = 0;
            
            try
            {
                lt.lookupTransform( tf_feet_r, tf_feet_l, ros::Time(0), trans_feet);
                
            }
            catch (tf::TransformException ex)
            {
                ROS_INFO("Transformation not found:  entered catch for 1.5 seconds!");
                
                if(lt.waitForTransform(tf_feet_r, tf_feet_l,ros::Time(0), ros::Duration(1.5)))
                {
                    try
                    {
                        lt.lookupTransform( tf_feet_r, tf_feet_l, ros::Time(0), trans_feet);
                    }
                    catch (tf::TransformException ex)
                    {
                        ROS_ERROR("Joystick Transforms: tansforrmation not found after waiting 1.5 seconds\n.%s",ex.what());
                    }
                }
                else
                {
                    ROS_ERROR("Joystick Transforms: Could not find valid transform after waiting 1.5 seconds\n.%s",ex.what());
                }
            }

            
            vector<geometry_msgs::PointStamped> ptrans(4);
            
            for (uint n = 0; n < ptrans.size(); n++)
            {
                lt.transformPoint (tf_feet_r, p_origins_l[n], ptrans[n]);
            }
            
            sen[0] = g_sen1[0];//left
            sen[1] = g_sen1[1];
            sen[2] = g_sen1[2];
            sen[3] = g_sen1[3];
            sen[4] = g_sen2[0];//right
            sen[5] = g_sen2[1];
            sen[6] = g_sen2[2];
            sen[7] = g_sen2[3];

            COP.copx=0;
            COP.copy=0;
            
            for ( i = 0; i < 4; i++ )
            {
                COP.copx += sen[i] * ptrans[i].point.x;
                COP.copy += sen[i] * ptrans[i].point.y;
            }
            for ( ; i < 8; i++ )
            {
                COP.copx += sen[i] * p_origins_r[i-4].point.x;
                COP.copy += sen[i] * p_origins_r[i-4].point.y;
            }
            
            COP.copx = COP.copx / (sen[0] + sen[1] + sen[2] + sen[3] + sen[4] + sen[5] + sen[6] + sen[7]);
            
            COP.copy = COP.copy / (sen[0] + sen[1] + sen[2] + sen[3] + sen[4] + sen[5] + sen[6] + sen[7]);
            
            COP.header.stamp = ros::Time::now (  );
            pub_cop.publish ( COP );

            if( g_viz)
            {
                visualization_msgs::Marker Cop_;
    
                // COP Left&Right
                Cop_.header.frame_id = tf_feet_r;
                Cop_.header.stamp = ros::Time::now();
                Cop_.ns = "Cop_";
                Cop_.id = 0;
                Cop_.type = visualization_msgs::Marker::SPHERE;
                Cop_.action = visualization_msgs::Marker::ADD;
                Cop_.scale.x = 0.02;
                Cop_.scale.y = 0.02;
                Cop_.scale.z = 0.02;
                Cop_.color.a = 1.0;
                Cop_.color.r = 1.0;
                Cop_.color.g = 0.78;
                Cop_.color.b = 0.58;
                
                Cop_.pose.position.x = COP.copx;
                Cop_.pose.position.y = COP.copy;
                Cop_.pose.position.z = 0;
                Cop_.pose.orientation.x = 0.0;
                Cop_.pose.orientation.y = 0.0;
                Cop_.pose.orientation.z = 0.0;
                Cop_.pose.orientation.w = 1.0;
                
                pub_viz.publish( Cop_ );
            }
        }
        
        ros::spinOnce (  );
        
        loop_rate.sleep (  );
    }
    
    return 0;
}