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Send TM command after receiving QT response #91

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merged 4 commits into from
Mar 24, 2021
Merged

Send TM command after receiving QT response #91

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13c3ba0
Refactor directory and namespace
at-wat Mar 22, 2021
9d7c332
Send TM command after receiving QT response
at-wat Mar 23, 2021
283504c
Merge branch 'master' into tm-after-qt-response
at-wat Mar 23, 2021
27b567f
Revert unrelated change
at-wat Mar 23, 2021
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3 changes: 1 addition & 2 deletions include/urg_stamped/urg_stamped.h
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Original file line number Diff line number Diff line change
Expand Up @@ -50,7 +50,6 @@ class UrgStampedNode
ros::Publisher pub_scan_;
ros::Timer timer_sync_;
ros::Timer timer_delay_estim_;
ros::Timer timer_try_tm_;

sensor_msgs::LaserScan msg_base_;
uint32_t step_min_;
Expand All @@ -61,6 +60,7 @@ class UrgStampedNode

bool publish_intensity_;

bool try_tm_;
boost::posix_time::ptime time_tm_request;
std::list<ros::Duration> communication_delays_;
std::list<ros::Time> device_time_origins_;
Expand Down Expand Up @@ -141,7 +141,6 @@ class UrgStampedNode

void timeSync(const ros::TimerEvent& event = ros::TimerEvent());
void delayEstimation(const ros::TimerEvent& event = ros::TimerEvent());
void tryTM(const ros::TimerEvent& event = ros::TimerEvent());

void errorCountIncrement(const std::string& status);

Expand Down
17 changes: 8 additions & 9 deletions src/urg_stamped.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,7 +128,6 @@ void UrgStampedNode::cbTM(
return;
}

timer_try_tm_.stop();
switch (echo_back[2])
{
case '0':
Expand Down Expand Up @@ -357,6 +356,12 @@ void UrgStampedNode::cbQT(
}

ROS_DEBUG("Scan data stopped");

if (try_tm_)
{
try_tm_ = false;
scip_->sendCommand("TM0");
}
}
void UrgStampedNode::cbRB(
const boost::posix_time::ptime& time_read,
Expand Down Expand Up @@ -388,15 +393,8 @@ void UrgStampedNode::delayEstimation(const ros::TimerEvent& event)
{
timer_sync_.stop();
ROS_DEBUG("Starting communication delay estimation");
try_tm_ = true;
scip_->sendCommand("QT");
timer_try_tm_ = nh_.createTimer(
ros::Duration(0.05),
&UrgStampedNode::tryTM, this);
}
void UrgStampedNode::tryTM(const ros::TimerEvent& event)
{
scip_->sendCommand("QT");
scip_->sendCommand("TM0");
}

void UrgStampedNode::errorCountIncrement(const std::string& status)
Expand Down Expand Up @@ -553,6 +551,7 @@ void UrgStampedNode::spin()
boost::bind(&scip2::Connection::spin, device_.get()));
ros::spin();
timer_sync_.stop();
try_tm_ = false;
scip_->sendCommand("QT");
device_->stop();
}
Expand Down