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add setting params based on serial port

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Sem van der Hoeven
2023-04-17 16:47:45 +02:00
parent bf9a652c82
commit 148071d43d
1 changed files with 16 additions and 2 deletions
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18
src/beacon_positioning/src/tracker_position.cpp
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@@ -8,6 +8,12 @@
// from the example: https://github.com/Terabee/positioning_systems_api/blob/master/examples/rtls_tracker_example.cpp // from the example: https://github.com/Terabee/positioning_systems_api/blob/master/examples/rtls_tracker_example.cpp
#include "serial_communication/serial.hpp" #include "serial_communication/serial.hpp"
#define TRACKER_0_PORT "/dev/ttyUSB0"
#define TRACKER_1_PORT "/dev/ttyUSB1"
#define TRACKER_0_PRIORITY 0
#define TRACKER_1_PRIORITY 1
using SerialInterface = terabee::serial_communication::Serial; using SerialInterface = terabee::serial_communication::Serial;
using namespace std::chrono_literals; using namespace std::chrono_literals;
@@ -18,7 +24,7 @@ public:
BeaconPositioningPublisher() : Node("beacon_positioning_publisher") BeaconPositioningPublisher() : Node("beacon_positioning_publisher")
{ {
this->declare_parameter("tracker_serial_port", "/dev/ttyUSB0"); // this->declare_parameter("tracker_serial_port", "/dev/ttyUSB0");
std::string serial_port_name = this->get_parameter("tracker_serial_port").as_string(); std::string serial_port_name = this->get_parameter("tracker_serial_port").as_string();
@@ -109,7 +115,15 @@ int main(int argc, char **argv)
std::shared_ptr<BeaconPositioningPublisher> node = std::make_shared<BeaconPositioningPublisher>(); std::shared_ptr<BeaconPositioningPublisher> node = std::make_shared<BeaconPositioningPublisher>();
executor.add_node(node); executor.add_node(node);
terabee::RtlsDevice rtls_device(node->get_serial_port()); terabee::RtlsDevice rtls_device(node->get_serial_port());
node->setup_rtlsdevice(&rtls_device, 0, 0, 1, 0, true); if (node->get_parameter("tracker_serial_port").as_string().compare(TRACKER_0_PORT))
{
RCLCPP_INFO(node->get_logger("Configuring RTLS device for tracker 0"));
node->setup_rtlsdevice(&rtls_device, 0, 0, 1, 0, true);
} else
{
RCLCPP_INFO(node->get_logger("Configuring RTLS device for tracker 1"));
node->setup_rtlsdevice(&rtls_device, 1, 1, 1, 0, true);
}
rtls_device.registerOnDistanceDataCaptureCallback([&node](const terabee::RtlsDevice::tracker_msg_t &tracker_msg) rtls_device.registerOnDistanceDataCaptureCallback([&node](const terabee::RtlsDevice::tracker_msg_t &tracker_msg)
{ {