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rtls_device fix?

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Sem van der Hoeven
2023-04-17 13:18:02 +02:00
parent f935061eec
commit 4f16bef4b8
1 changed files with 24 additions and 22 deletions
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46
src/beacon_positioning/src/tracker_position.cpp
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@@ -37,9 +37,12 @@ public:
return;
}
terabee::RtlsDevice rtls_device(serial_port);
publisher_ = this->create_publisher<std_msgs::msg::String>("beacon_positioning", 10);
timer_ = this->create_wall_timer(
500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this));
}
private:
@@ -51,35 +54,34 @@ private:
publisher_->publish(message);
}
void setup_rtlsdevice(int priority, int label, int update_time, int network_id, bool long_message)
{
rtls_device.disableTrackerStream();
serial_port->flushInput();
rtls_device.setDevice(terabee::RtlsDevice::device_type::tracker, priority);
rtls_device.setLabel(label);
rtls_device.setUpdateTime(update_time);
rtls_device.setNetworkId(network_id);
if (long_message)
{
rtls_device.setTrackerMessageLong();
}
else
{
rtls_device.setTrackerMessageShort();
}
rtls_device.enableLED();
rtls_device.requestConfig();
device_configuration = rtls_device.getConfig();
// void setup_rtlsdevice(int priority, int label, int update_time, int network_id, bool long_message)
// {
// rtls_device.disableTrackerStream();
// serial_port->flushInput();
// rtls_device.setDevice(terabee::RtlsDevice::device_type::tracker, priority);
// rtls_device.setLabel(label);
// rtls_device.setUpdateTime(update_time);
// rtls_device.setNetworkId(network_id);
// if (long_message)
// {
// rtls_device.setTrackerMessageLong();
// }
// else
// {
// rtls_device.setTrackerMessageShort();
// }
// rtls_device.enableLED();
// rtls_device.requestConfig();
// device_configuration = rtls_device.getConfig();
rtls_device.enableTrackerStream();
}
// rtls_device.enableTrackerStream();
// }
rclcpp::TimerBase::SharedPtr timer_; // timer to trigger the
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_; // pointer to publisher object
// terabee tower evo variables
std::shared_ptr<terabee::serial_communication::ISerial> serial_port; // serial port for communicating with tracker
terabee::RtlsDevice rtls_device = terabee::RtlsDevice(serial_port);
terabee::RtlsDevice::config_t device_configuration;
terabee::RtlsDevice::OnTrackerDataCallback tracker_data_callback_;
};