root / scout / scoutsim / src / old_scout_teleop.cpp @ a2e6bd4c
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1 | e1d66e9a | roboclub | #include <ros/ros.h> |
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2 | #include <motors/set_motors.h> |
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3 | #include <signal.h> |
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4 | #include <termios.h> |
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5 | #include <stdio.h> |
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6 | |||
7 | // TODO: add this to a constants.h
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8 | #define QUEUE_SIZE 10 |
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9 | |||
10 | #define KEYCODE_R 0x43 |
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11 | #define KEYCODE_L 0x44 |
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12 | #define KEYCODE_U 0x41 |
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13 | #define KEYCODE_D 0x42 |
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14 | #define KEYCODE_Q 0x71 |
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15 | #define KEYCODE_S 0x73 |
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16 | |||
17 | class TeleopScout |
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18 | { |
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19 | public:
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20 | TeleopScout(); |
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21 | void keyLoop();
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22 | |||
23 | private:
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24 | ros::NodeHandle nh_; |
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25 | bool fl_set_, fr_set_, bl_set_, br_set_;
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26 | int fl_speed_, fr_speed_, bl_speed_, br_speed_;
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27 | char last_key;
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28 | ros::Publisher motors_pub_; |
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29 | }; |
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30 | |||
31 | TeleopScout::TeleopScout() |
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32 | { |
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33 | fl_set_ = fr_set_ = bl_set_ = br_set_ = true;
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34 | fl_speed_ = fr_speed_ = bl_speed_ = br_speed_ = 0;
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35 | motors_pub_ = nh_.advertise<motors::set_motors>( |
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36 | "scout1/set_motors", QUEUE_SIZE);
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37 | } |
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38 | |||
39 | int kfd = 0; |
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40 | struct termios cooked, raw;
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41 | |||
42 | void quit(int sig) |
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43 | { |
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44 | tcsetattr(kfd, TCSANOW, &cooked); |
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45 | ros::shutdown(); |
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46 | exit(0);
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47 | } |
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48 | |||
49 | |||
50 | int main(int argc, char** argv) |
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51 | { |
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52 | ros::init(argc, argv, "teleop_scout");
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53 | TeleopScout teleop_scout; |
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54 | |||
55 | signal(SIGINT,quit); |
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56 | |||
57 | teleop_scout.keyLoop(); |
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58 | |||
59 | return(0); |
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60 | } |
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61 | |||
62 | |||
63 | void TeleopScout::keyLoop()
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64 | { |
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65 | char c;
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66 | bool dirty=false; |
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67 | |||
68 | // get the console in raw mode
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69 | tcgetattr(kfd, &cooked); |
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70 | memcpy(&raw, &cooked, sizeof(struct termios)); |
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71 | raw.c_lflag &=~ (ICANON | ECHO); |
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72 | // Setting a new line, then end of file
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73 | raw.c_cc[VEOL] = 1;
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74 | raw.c_cc[VEOF] = 2;
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75 | tcsetattr(kfd, TCSANOW, &raw); |
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76 | |||
77 | puts("Reading from keyboard");
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78 | puts("---------------------------");
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79 | puts("Use arrow keys to move the scout.");
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80 | |||
81 | |||
82 | for(;;)
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83 | { |
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84 | ROS_INFO("loop pass engaged");
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85 | // get the next event from the keyboard
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86 | if(read(kfd, &c, 1) < 0) |
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87 | { |
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88 | perror("read():");
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89 | exit(-1);
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90 | } |
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91 | |||
92 | //ROS_DEBUG("value: 0x%02X\n", c);
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93 | //ROS_INFO("value: 0x%02X\n", c);
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94 | switch(c)
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95 | { |
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96 | case KEYCODE_L:
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97 | ROS_INFO("LEFT");
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98 | fl_speed_ = bl_speed_ = 200;
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99 | fr_speed_ = br_speed_ = -200;
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100 | dirty = true;
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101 | break;
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102 | case KEYCODE_R:
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103 | ROS_INFO("RIGHT");
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104 | fl_speed_ = bl_speed_ = -200;
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105 | fr_speed_ = br_speed_ = 200;
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106 | dirty = true;
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107 | break;
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108 | case KEYCODE_U:
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109 | ROS_INFO("UP");
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110 | fl_speed_ = bl_speed_ = 200;
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111 | fr_speed_ = br_speed_ = 200;
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112 | dirty = true;
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113 | break;
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114 | case KEYCODE_D:
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115 | ROS_INFO("DOWN");
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116 | fl_speed_ = bl_speed_ = -200;
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117 | fr_speed_ = br_speed_ = -200;
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118 | dirty = true;
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119 | break;
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120 | default:
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121 | ROS_INFO("test");
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122 | fl_speed_ = bl_speed_ = 0;
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123 | fr_speed_ = br_speed_ = 0;
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124 | dirty = true;
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125 | break;
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126 | } |
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127 | |||
128 | motors::set_motors msg; |
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129 | msg.fl_set = fl_set_; |
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130 | msg.fr_set = fr_set_; |
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131 | msg.bl_set = bl_set_; |
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132 | msg.br_set = br_set_; |
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133 | msg.fl_speed = fl_speed_; |
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134 | msg.fr_speed = fr_speed_; |
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135 | msg.bl_speed = bl_speed_; |
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136 | msg.br_speed = br_speed_; |
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137 | |||
138 | if(dirty == true) |
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139 | { |
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140 | if (last_key != c)
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141 | { |
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142 | motors_pub_.publish(msg); |
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143 | } |
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144 | dirty=false;
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145 | } |
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146 | last_key = c; |
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147 | } |
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148 | |||
149 | return;
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150 | } |
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151 | |||
152 |