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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; return;
} }
terabee::RtlsDevice rtls_device(serial_port);
publisher_ = this->create_publisher<std_msgs::msg::String>("beacon_positioning", 10); publisher_ = this->create_publisher<std_msgs::msg::String>("beacon_positioning", 10);
timer_ = this->create_wall_timer( timer_ = this->create_wall_timer(
500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this)); 500ms, std::bind(&BeaconPositioningPublisher::timer_callback, this));
} }
private: private:
@@ -51,35 +54,34 @@ private:
publisher_->publish(message); publisher_->publish(message);
} }
void setup_rtlsdevice(int priority, int label, int update_time, int network_id, bool long_message) // void setup_rtlsdevice(int priority, int label, int update_time, int network_id, bool long_message)
{ // {
rtls_device.disableTrackerStream(); // rtls_device.disableTrackerStream();
serial_port->flushInput(); // serial_port->flushInput();
rtls_device.setDevice(terabee::RtlsDevice::device_type::tracker, priority); // rtls_device.setDevice(terabee::RtlsDevice::device_type::tracker, priority);
rtls_device.setLabel(label); // rtls_device.setLabel(label);
rtls_device.setUpdateTime(update_time); // rtls_device.setUpdateTime(update_time);
rtls_device.setNetworkId(network_id); // rtls_device.setNetworkId(network_id);
if (long_message) // if (long_message)
{ // {
rtls_device.setTrackerMessageLong(); // rtls_device.setTrackerMessageLong();
} // }
else // else
{ // {
rtls_device.setTrackerMessageShort(); // rtls_device.setTrackerMessageShort();
} // }
rtls_device.enableLED(); // rtls_device.enableLED();
rtls_device.requestConfig(); // rtls_device.requestConfig();
device_configuration = rtls_device.getConfig(); // device_configuration = rtls_device.getConfig();
rtls_device.enableTrackerStream(); // rtls_device.enableTrackerStream();
} // }
rclcpp::TimerBase::SharedPtr timer_; // timer to trigger the rclcpp::TimerBase::SharedPtr timer_; // timer to trigger the
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_; // pointer to publisher object rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_; // pointer to publisher object
// terabee tower evo variables // terabee tower evo variables
std::shared_ptr<terabee::serial_communication::ISerial> serial_port; // serial port for communicating with tracker 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::config_t device_configuration;
terabee::RtlsDevice::OnTrackerDataCallback tracker_data_callback_; terabee::RtlsDevice::OnTrackerDataCallback tracker_data_callback_;
}; };