Revision e1d66e9a
ID | e1d66e9a92e71b3eb67d531aca75e58f7407be40 |
splitting up teleop into two separate processes, delay is in the wrong place whoops
scout/scoutsim/src/scout_teleop.cpp | ||
---|---|---|
1 |
#include <ros/ros.h> |
|
2 |
#include <motors/set_motors.h> |
|
3 |
#include <signal.h> |
|
4 |
#include <termios.h> |
|
5 |
#include <stdio.h> |
|
1 |
#include "scout_teleop.h" |
|
6 | 2 |
|
7 |
// TODO: add this to a constants.h |
|
8 |
#define QUEUE_SIZE 10 |
|
9 |
|
|
10 |
#define KEYCODE_R 0x43 |
|
11 |
#define KEYCODE_L 0x44 |
|
12 |
#define KEYCODE_U 0x41 |
|
13 |
#define KEYCODE_D 0x42 |
|
14 |
#define KEYCODE_Q 0x71 |
|
15 |
#define KEYCODE_S 0x73 |
|
16 |
|
|
17 |
class TeleopScout |
|
18 |
{ |
|
19 |
public: |
|
20 |
TeleopScout(); |
|
21 |
void keyLoop(); |
|
22 |
|
|
23 |
private: |
|
24 |
ros::NodeHandle nh_; |
|
25 |
bool fl_set_, fr_set_, bl_set_, br_set_; |
|
26 |
int fl_speed_, fr_speed_, bl_speed_, br_speed_; |
|
27 |
char last_key; |
|
28 |
ros::Publisher motors_pub_; |
|
29 |
}; |
|
30 |
|
|
31 |
TeleopScout::TeleopScout() |
|
32 |
{ |
|
33 |
fl_set_ = fr_set_ = bl_set_ = br_set_ = true; |
|
34 |
fl_speed_ = fr_speed_ = bl_speed_ = br_speed_ = 0; |
|
35 |
motors_pub_ = nh_.advertise<motors::set_motors>( |
|
36 |
"scout1/set_motors", QUEUE_SIZE); |
|
37 |
} |
|
38 |
|
|
39 |
int kfd = 0; |
|
40 |
struct termios cooked, raw; |
|
41 |
|
|
42 |
void quit(int sig) |
|
3 |
TeleopScout::TeleopScout(std::string scoutname) |
|
43 | 4 |
{ |
44 |
tcsetattr(kfd, TCSANOW, &cooked); |
|
45 |
ros::shutdown(); |
|
46 |
exit(0); |
|
5 |
fl_set = fr_set = bl_set = br_set = true; |
|
6 |
fl_speed = fr_speed = bl_speed = br_speed = 0; |
|
7 |
motors_pub = node.advertise<motors::set_motors>( |
|
8 |
scoutname+"/set_motors", QUEUE_SIZE); |
|
9 |
key_input_sub = node.subscribe(scoutname+"/teleop_input", |
|
10 |
QUEUE_SIZE, |
|
11 |
&TeleopScout::teleop_input_callback, |
|
12 |
this); |
|
47 | 13 |
} |
48 | 14 |
|
49 |
|
|
50 |
int main(int argc, char** argv)
|
|
15 |
void TeleopScout::teleop_input_callback( |
|
16 |
const scoutsim::teleop_input::ConstPtr& msg)
|
|
51 | 17 |
{ |
52 |
ros::init(argc, argv, "teleop_scout"); |
|
53 |
TeleopScout teleop_scout; |
|
54 |
|
|
55 |
signal(SIGINT,quit); |
|
56 |
|
|
57 |
teleop_scout.keyLoop(); |
|
58 |
|
|
59 |
return(0); |
|
18 |
last_key = msg->last_key; |
|
19 |
last_time = msg->header.stamp; |
|
20 |
ROS_INFO("received key: 0x%02X ", last_key); |
|
21 |
ROS_INFO("at last time: %f\n", last_time.toSec()); |
|
60 | 22 |
} |
61 | 23 |
|
62 |
|
|
63 |
void TeleopScout::keyLoop() |
|
24 |
void TeleopScout::keyListenerLoop() |
|
64 | 25 |
{ |
65 |
char c; |
|
66 |
bool dirty=false; |
|
67 |
|
|
68 |
// get the console in raw mode |
|
69 |
tcgetattr(kfd, &cooked); |
|
70 |
memcpy(&raw, &cooked, sizeof(struct termios)); |
|
71 |
raw.c_lflag &=~ (ICANON | ECHO); |
|
72 |
// Setting a new line, then end of file |
|
73 |
raw.c_cc[VEOL] = 1; |
|
74 |
raw.c_cc[VEOF] = 2; |
|
75 |
tcsetattr(kfd, TCSANOW, &raw); |
|
76 |
|
|
77 |
puts("Reading from keyboard"); |
|
78 |
puts("---------------------------"); |
|
79 |
puts("Use arrow keys to move the scout."); |
|
80 |
|
|
81 |
|
|
82 |
for(;;) |
|
83 |
{ |
|
84 |
ROS_INFO("loop pass engaged"); |
|
85 |
// get the next event from the keyboard |
|
86 |
if(read(kfd, &c, 1) < 0) |
|
26 |
while(ros::ok()) |
|
87 | 27 |
{ |
88 |
perror("read():"); |
|
89 |
exit(-1); |
|
28 |
if(last_time + MAX_WAIT_TIME < ros::Time::now()) |
|
29 |
{ |
|
30 |
switch(last_key) |
|
31 |
{ |
|
32 |
case KEYCODE_L: |
|
33 |
//ROS_INFO("LEFT"); |
|
34 |
fl_speed = bl_speed = 200; |
|
35 |
fr_speed = br_speed = -200; |
|
36 |
break; |
|
37 |
case KEYCODE_R: |
|
38 |
//ROS_INFO("RIGHT"); |
|
39 |
fl_speed = bl_speed = -200; |
|
40 |
fr_speed = br_speed = 200; |
|
41 |
break; |
|
42 |
case KEYCODE_U: |
|
43 |
//ROS_INFO("UP"); |
|
44 |
fl_speed = bl_speed = 200; |
|
45 |
fr_speed = br_speed = 200; |
|
46 |
break; |
|
47 |
case KEYCODE_D: |
|
48 |
//ROS_INFO("DOWN"); |
|
49 |
fl_speed = bl_speed = -200; |
|
50 |
fr_speed = br_speed = -200; |
|
51 |
break; |
|
52 |
default: |
|
53 |
//don't publish a message yet; no change to key, |
|
54 |
// and no timeout yet |
|
55 |
ROS_INFO("no time out yet\n"); |
|
56 |
ros::spinOnce(); |
|
57 |
continue; |
|
58 |
break; |
|
59 |
} |
|
60 |
} |
|
61 |
else if (fl_speed != 0 || fr_speed != 0 || |
|
62 |
bl_speed != 0 || br_speed != 0) |
|
63 |
{ |
|
64 |
fl_speed = fr_speed = bl_speed = br_speed = 0; |
|
65 |
} |
|
66 |
|
|
67 |
//send command to the motors |
|
68 |
motors::set_motors msg; |
|
69 |
msg.fl_set = fl_set; |
|
70 |
msg.fr_set = fr_set; |
|
71 |
msg.bl_set = bl_set; |
|
72 |
msg.br_set = br_set; |
|
73 |
msg.fl_speed = fl_speed; |
|
74 |
msg.fr_speed = fr_speed; |
|
75 |
msg.bl_speed = bl_speed; |
|
76 |
msg.br_speed = br_speed; |
|
77 |
motors_pub.publish(msg); |
|
78 |
|
|
79 |
ros::spinOnce(); |
|
90 | 80 |
} |
81 |
return; |
|
82 |
} |
|
91 | 83 |
|
92 |
//ROS_DEBUG("value: 0x%02X\n", c); |
|
93 |
//ROS_INFO("value: 0x%02X\n", c); |
|
94 |
switch(c) |
|
95 |
{ |
|
96 |
case KEYCODE_L: |
|
97 |
ROS_INFO("LEFT"); |
|
98 |
fl_speed_ = bl_speed_ = 200; |
|
99 |
fr_speed_ = br_speed_ = -200; |
|
100 |
dirty = true; |
|
101 |
break; |
|
102 |
case KEYCODE_R: |
|
103 |
ROS_INFO("RIGHT"); |
|
104 |
fl_speed_ = bl_speed_ = -200; |
|
105 |
fr_speed_ = br_speed_ = 200; |
|
106 |
dirty = true; |
|
107 |
break; |
|
108 |
case KEYCODE_U: |
|
109 |
ROS_INFO("UP"); |
|
110 |
fl_speed_ = bl_speed_ = 200; |
|
111 |
fr_speed_ = br_speed_ = 200; |
|
112 |
dirty = true; |
|
113 |
break; |
|
114 |
case KEYCODE_D: |
|
115 |
ROS_INFO("DOWN"); |
|
116 |
fl_speed_ = bl_speed_ = -200; |
|
117 |
fr_speed_ = br_speed_ = -200; |
|
118 |
dirty = true; |
|
119 |
break; |
|
120 |
default: |
|
121 |
ROS_INFO("test"); |
|
122 |
fl_speed_ = bl_speed_ = 0; |
|
123 |
fr_speed_ = br_speed_ = 0; |
|
124 |
dirty = true; |
|
125 |
break; |
|
126 |
} |
|
127 |
|
|
128 |
motors::set_motors msg; |
|
129 |
msg.fl_set = fl_set_; |
|
130 |
msg.fr_set = fr_set_; |
|
131 |
msg.bl_set = bl_set_; |
|
132 |
msg.br_set = br_set_; |
|
133 |
msg.fl_speed = fl_speed_; |
|
134 |
msg.fr_speed = fr_speed_; |
|
135 |
msg.bl_speed = bl_speed_; |
|
136 |
msg.br_speed = br_speed_; |
|
84 |
int main(int argc, char** argv) |
|
85 |
{ |
|
86 |
ros::init(argc, argv, "scout_teleop"); |
|
87 |
TeleopScout teleop_scout = TeleopScout("scout1"); |
|
137 | 88 |
|
138 |
if(dirty == true) |
|
139 |
{ |
|
140 |
if (last_key != c) |
|
141 |
{ |
|
142 |
motors_pub_.publish(msg); |
|
143 |
} |
|
144 |
dirty=false; |
|
145 |
} |
|
146 |
last_key = c; |
|
147 |
} |
|
89 |
teleop_scout.keyListenerLoop(); |
|
148 | 90 |
|
149 |
return;
|
|
91 |
return(0);
|
|
150 | 92 |
} |
151 |
|
|
152 |
|
|
153 |
|
Also available in: Unified diff