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change way of using rtls device

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Sem van der Hoeven
2023-04-17 13:45:02 +02:00
parent d3630d1af4
commit b48b1c2344
1 changed files with 61 additions and 30 deletions
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89
src/beacon_positioning/src/tracker_position.cpp
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@@ -40,15 +40,46 @@ public:
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));
} }
std::shared_ptr<terabee::serial_communication::ISerial> serial_port get_serial_port() { void setup_rtlsdevice(std::shared_ptr<terabee::RtlsDevice> rtls_device, 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();
RCLCPP_INFO(this->get_logger(), "Tracker configured");
}
std::shared_ptr<terabee::serial_communication::ISerial> get_serial_port()
{
return serial_port; return serial_port;
} }
void publish()
{
publisher_->publish(msg);
}
private: private:
void timer_callback() void timer_callback(std_msgs::msg msg)
{ {
auto message = std_msgs::msg::String(); auto message = std_msgs::msg::String();
message.data = "Hello beacons!"; message.data = "Hello beacons!";
@@ -56,29 +87,6 @@ private:
publisher_->publish(message); 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();
// 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
@@ -94,10 +102,33 @@ int main(int argc, char **argv)
(void)argv; (void)argv;
printf("starting tracker node of beacon_positioning package\n"); printf("starting tracker node of beacon_positioning package\n");
rclcpp::executors::SingleThreadedExecutor executor;
rclcpp::init(argc, argv); rclcpp::init(argc, argv);
std::shared_ptr<BeaconPositioningPublisher> node = std::make_shared<BeaconPositioningPublisher>(); std::shared_ptr<BeaconPositioningPublisher> node = std::make_shared<BeaconPositioningPublisher>();
node->get_serial_port(); executor.add_node(node);
rclcpp::spin(node); terabee::RtlsDevice rtls_device(node->get_serial_port());
node->setup_rtlsdevice(std::make_shared<terabee::RtlsDevice>(rtls_device), 1, 0x1ABE, 1, 0xC0FE, true);
rtls_device.registerOnDistanceDataCaptureCallback([&node](const terabee::RtlsDevice::tracker_msg_t &tracker_msg)
{
if (tracker_msg.is_valid_position)
{
RCLCPP_INFO(node->get_logger(), "Tracker %d: x = %f, y = %f, z = %f", tracker_msg.label, tracker_msg.x, tracker_msg.y, tracker_msg.z);
auto message = std_msgs::msg::String();
message.data = "Hello from tracker callback!";
node->publish(message);
}
else
{
RCLCPP_ERROR(node->get_logger(), "invalid tracker position");
} });
executor.spin();
rtls_device.startReadingStream();
rclcpp::shutdown(); rclcpp::shutdown();
return 0;
rtls_device.stopReadingStream();
return node->get_serial_port()->close() ? 0 : -1;
} }