logging node added

modules/catkin_ws/less

+[ INFO] [1521718243.071038508]: Initializing nodelet with 16 worker threads.
+[ INFO] [1521718243.080567261]: Environment::onInit -- START
+[ INFO] [1521718243.120601869]: Environment::onInit -- END
+[ INFO] [1521718243.126112582]: Ultrasonic::onInit -- START
+[ INFO] [1521718243.127296067]: Ultrasonic::onInit -- END
+Called MainNode().
+[ INFO] [1521718243.131586669]: MainNode::onInit -- START
+[ INFO] [1521718243.136267795]: MainNode::onInit -- END
+[ INFO] [1521718243.139709753]: Camera::onInit -- START
+[ INFO] [1521718243.140808953]: Camera::onInit -- END
+[ INFO] [1521718243.144232873]: Lanekeeping::onInit -- START
+[ INFO] [1521718243.148060006]: Lanekeeping::onInit -- END
+[ INFO] [1521718243.151645771]: MavLink::onInit -- START
+[ INFO] [1521718243.162937607]: MavLink::onInit -- END
+[ INFO] [1521718243.167137851]: Logging::onInit -- START
+[ INFO] [1521718243.222565839]: Logging::onInit -- END
+Environment recived new uss data (0).
+Environment recived new cam data ( ).
+MainNode recived new environmentData data (0, 1).
+Logging received new environment data ( ).
+Environment recived new uss data (1).
+Environment received new uss data ( ).
+MainNode recived new environmentData data (1, 1).
+Logging received new environment data ( ).
+Environment recived new cam data ( ).
+Lanekeeping recived new cam data ( ).
+Logging received new cam data ( ).
+Environment recived new uss data (2).
+Environment received new uss data ( ).
+MainNode recived new environmentData data (2, 1).
+Logging received new environment data ( ).
+Environment recived new cam data ( ).
+Lanekeeping recived new cam data ( ).
+Logging received new cam data ( ).
+Environment recived new uss data (3).
+Environment received new uss data ( ).
+MainNode recived new environmentData data (3, 1).
+Logging received new environment data ( ).
+Environment recived new cam data ( ).
+Lanekeeping recived new cam data ( ).
+Logging received new cam data ( ).
+... logging to /home/philipp/.ros/log/f1d86846-2dba-11e8-933d-dc53600aa2a3/roslaunch-philipp-ThinkPad-L450-6448.log
+Checking log directory for disk usage. This may take awhile.
+Press Ctrl-C to interrupt
+Done checking log file disk usage. Usage is <1GB.
+]2;/home/philipp/hu/Hochautomatisiertes Fahren/Repo/modules/catkin_ws/src/car/launch/fullstart.launch
+started roslaunch server http://philipp-ThinkPad-L450:37696/
+
+SUMMARY
+========
+
+PARAMETERS
+ * /Master/num_worker_threads: 16
+ * /rosdistro: kinetic
+ * /rosversion: 1.12.12
+
+NODES
+  /
+    Master (nodelet/nodelet)
+    nodelet_camera (nodelet/nodelet)
+    nodelet_environment (nodelet/nodelet)
+    nodelet_lanekeeping (nodelet/nodelet)
+    nodelet_logging (nodelet/nodelet)
+    nodelet_main_node (nodelet/nodelet)
+    nodelet_mav_link (nodelet/nodelet)
+    nodelet_ultrasonic (nodelet/nodelet)
+
+ROS_MASTER_URI=http://localhost:11311
+]2;/home/philipp/hu/Hochautomatisiertes Fahren/Repo/modules/catkin_ws/src/car/launch/fullstart.launch http://localhost:11311
+process[Master-1]: started with pid [6465]
+process[nodelet_main_node-2]: started with pid [6466]
+process[nodelet_environment-3]: started with pid [6467]
+process[nodelet_ultrasonic-4]: started with pid [6469]
+process[nodelet_camera-5]: started with pid [6488]
+process[nodelet_lanekeeping-6]: started with pid [6505]
+process[nodelet_mav_link-7]: started with pid [6541]
+process[nodelet_logging-8]: started with pid [6559]
+[nodelet_logging-8] killing on exit
+[nodelet_mav_link-7] killing on exit
+[nodelet_lanekeeping-6] killing on exit
+[nodelet_camera-5] killing on exit
+[nodelet_environment-3] killing on exit
+[nodelet_ultrasonic-4] killing on exit
+[Master-1] killing on exit
+[nodelet_main_node-2] killing on exit
+shutting down processing monitor...
+... shutting down processing monitor complete
+done

modules/catkin_ws/src/car/CMakeLists.txt

@@ -51,10 +51,10 @@ include_directories(
 )
 
 set(MAIN_NODE_SOURCE_FILES
-        include/mainNode/mainNode.h
+        include/mainNode/MainNode.h
         include/mainNode/NotifiableThread.h
         include/mainNode/PlatoonController.h
-        src/mainNode/mainNode.cpp
+        src/mainNode/MainNode.cpp
         src/mainNode/NotifiableThread.cpp
         src/mainNode/PlatoonController.cpp)
 
@@ -79,23 +79,27 @@ target_include_directories(main_node PUBLIC
         ${PlatoonProtocolLib_INCLUDE_DIRS}
         ${PC2CarLib_INCLUDE_DIRS})
 
-add_library(environment src/environment/environment.cpp)
+add_library(environment src/environment/Environment.cpp)
 add_dependencies(environment ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
 target_link_libraries(environment ${catkin_LIBRARIES})
 
-add_library(ultrasonic src/ultrasonic/ultrasonic.cpp)
+add_library(logging src/logging/Logging.cpp)
+add_dependencies(logging ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
+target_link_libraries(logging ${catkin_LIBRARIES})
+
+add_library(ultrasonic src/ultrasonic/Ultrasonic.cpp)
 add_dependencies(ultrasonic ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
 target_link_libraries(ultrasonic ${catkin_LIBRARIES})
 
-add_library(camera src/camera/camera.cpp)
+add_library(camera src/camera/Camera.cpp)
 add_dependencies(camera ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
 target_link_libraries(camera ${catkin_LIBRARIES})
 
-add_library(lanekeeping src/lanekeeping/lanekeeping.cpp)
+add_library(lanekeeping src/lanekeeping/Lanekeeping.cpp)
 add_dependencies(lanekeeping ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
 target_link_libraries(lanekeeping ${catkin_LIBRARIES})
 
-add_library(mav_link src/mavLink/mavLink.cpp)
+add_library(mav_link src/mavLink/MavLink.cpp)
 add_dependencies(mav_link ${catkin_EXPORTED_TARGETS} ${PROJECT_NAME}_generate_messages_cpp)
 target_link_libraries(mav_link ${catkin_LIBRARIES})
 

modules/catkin_ws/src/car/include/environment/Environment.h

+#ifndef ENVIRONMENT_H
+#define ENVIRONMENT_H
+
+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+
+#include "car/ussDataMsg.h"
+#include "car/camDataMsg.h"
+
+namespace car
+{
+class Environment : public nodelet::Nodelet
+{
+public:
+    virtual void onInit();
+
+    Environment(ros::NodeHandle & nh, std::string & name);
+
+    Environment();
+
+    ~Environment();
+
+private:
+    ros::NodeHandle nh_;
+    std::string name_;
+
+    float distance;
+    float prevSpeed;
+
+    ros::Publisher environmentData;
+    ros::Subscriber ussData;
+    ros::Subscriber camData;
+
+
+    void ussDataCallback(const ussDataMsg::ConstPtr & inMsg);
+
+    void camDataCallback(const camDataMsg::ConstPtr & inMsg);
+};
+}
+#endif

modules/catkin_ws/src/car/include/environment/environment.h

-#ifndef ENVIRONMENT_H
-#define ENVIRONMENT_H
-
-#include <nodelet/nodelet.h>
-#include <ros/ros.h>
-
-#include "car/ussDataMsg.h"
-#include "car/camDataMsg.h"
-
-namespace car
-{
-	class Environment : public nodelet::Nodelet
-	{
-		public:
-			virtual void onInit();
-			Environment(ros::NodeHandle &nh, std::string &name);
-			Environment();
-			~Environment();
-		private:
-			ros::NodeHandle nh_;
-			std::string name_;
-      
-      float distance;
-      float prevSpeed;
-      
-			ros::Publisher environmentData;
-      ros::Subscriber ussData;
-      ros::Subscriber camData;
-
-      
-      void ussDataCallback(const ussDataMsg::ConstPtr& inMsg);
-      void camDataCallback(const camDataMsg::ConstPtr& inMsg);
-	};
-}
-#endif

modules/catkin_ws/src/car/include/logging/Logging.h

+//
+// Created by philipp on 22.03.18.
+//
+
+#ifndef MODULES_LOGGING_H
+#define MODULES_LOGGING_H
+
+#include <nodelet/nodelet.h>
+#include <ros/ros.h>
+
+#include "car/camDataMsg.h"
+#include "car/ccDataMsg.h"
+#include "car/environmentDataMsg.h"
+#include "car/laneDataMsg.h"
+#include "car/logEnabledMsg.h"
+#include "car/logStringMsg.h"
+#include "car/rcEnabledMsg.h"
+#include "car/stmDataMsg.h"
+#include "car/ussDataMsg.h"
+
+namespace car
+{
+class Logging : public nodelet::Nodelet
+{
+public:
+    virtual void onInit();
+
+    Logging(ros::NodeHandle & nh, std::string & name);
+
+    Logging();
+
+    ~Logging();
+
+private:
+    ros::NodeHandle nh_;
+    std::string name_;
+
+    ros::Subscriber camData;
+    ros::Subscriber ccData;
+    ros::Subscriber environmentData;
+    ros::Subscriber laneData;
+    ros::Subscriber logEnabled;
+    ros::Subscriber logString;
+    ros::Subscriber rcEnabled;
+    ros::Subscriber stmData;
+    ros::Subscriber ussData;
+
+    void camDataCallback(const camDataMsg::ConstPtr & inMsg);
+    void ccDataCallback(const ccDataMsg::ConstPtr & inMsg);
+    void environmentDataCallback(const environmentDataMsg::ConstPtr & inMsg);
+    void laneDataCallback(const laneDataMsg::ConstPtr & inMsg);
+    void logEnabledCallback(const logEnabledMsg::ConstPtr & inMsg);
+    void logStringCallback(const logStringMsg::ConstPtr & inMsg);
+    void rcEnabledCallback(const rcEnabledMsg::ConstPtr & inMsg);
+    void stmDataCallback(const stmDataMsg::ConstPtr & inMsg);
+    void ussDataCallback(const ussDataMsg::ConstPtr & inMsg);
+};
+}
+
+#endif //MODULES_LOGGING_H

modules/catkin_ws/src/car/launch/fullstart.launch

@@ -9,6 +9,7 @@
   <node pkg="nodelet" type="nodelet" name="nodelet_camera" args="load car/camera Master"/>
   <node pkg="nodelet" type="nodelet" name="nodelet_lanekeeping" args="load car/lanekeeping Master"/>
   <node pkg="nodelet" type="nodelet" name="nodelet_mav_link" args="load car/mav_link Master"/>
+  <node pkg="nodelet" type="nodelet" name="nodelet_logging" args="load car/logging Master"/>
 </launch>
 
 <!--

modules/catkin_ws/src/car/plugins/nodelet_plugins.xml

@@ -24,6 +24,16 @@
   </class>
 </library>
 
+<library path="lib/liblogging">
+<class name="car/logging"
+       type="car::Logging"
+       base_class_type="nodelet::Nodelet">
+    <description>
+        Missing
+    </description>
+</class>
+</library>
+
 <library path="lib/libultrasonic">
   <class name="car/ultrasonic"
 	 type="car::Ultrasonic"

modules/catkin_ws/src/car/src/camera/Camera.cpp

+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "camera/Camera.h"
+
+#include "car/camDataMsg.h"
+
+PLUGINLIB_EXPORT_CLASS(car::Camera, nodelet::Nodelet);
+
+namespace car
+{
+
+Camera::Camera(ros::NodeHandle & nh, std::string & name) : nh_(nh), name_(name)
+{}
+
+Camera::Camera()
+{}
+
+Camera::~Camera()
+{}
+
+void Camera::onInit()
+{
+    NODELET_INFO("Camera::onInit -- START");
+    camData = nh_.advertise<camDataMsg>("camData", 1);
+    main = boost::thread(
+        [this]()
+        {
+            ros::Rate rate{1};
+            while (ros::ok())
+            {
+                camDataMsg msg;
+                camData.publish(msg);
+                rate.sleep();
+            }
+        });
+
+    NODELET_INFO("Camera::onInit -- END");
+}
+}

modules/catkin_ws/src/car/src/camera/camera.cpp

-#include <pluginlib/class_list_macros.h>
-#include <ros/ros.h>
-
-#include "camera/camera.h"
-
-#include "car/camDataMsg.h"
-
-PLUGINLIB_EXPORT_CLASS(car::Camera, nodelet::Nodelet);
-
-namespace car
-{
-	Camera::Camera(ros::NodeHandle &nh, std::string &name) : nh_(nh), name_(name) {}
-	Camera::Camera() {}
-	Camera::~Camera() {}
-	void Camera::onInit()
-	{
-		NODELET_INFO("Camera::onInit -- START");
-	  camData = nh_.advertise<camDataMsg>("camData", 1);
-    main = boost::thread([this] () {
-      ros::Rate rate{1};
-      while(ros::ok()) {
-        camDataMsg msg;
-        camData.publish(msg);
-        rate.sleep();
-      }
-    });
-
-		NODELET_INFO("Camera::onInit -- END");
-	}
-}

modules/catkin_ws/src/car/src/environment/environment.cpp → modules/catkin_ws/src/car/src/environment/Environment.cpp

 #include <pluginlib/class_list_macros.h>
 #include <ros/ros.h>
 
-#include "environment/environment.h"
+#include "environment/Environment.h"
 
 #include "car/camDataMsg.h"
 #include "car/environmentDataMsg.h"

modules/catkin_ws/src/car/src/lanekeeping/lanekeeping.cpp → modules/catkin_ws/src/car/src/lanekeeping/Lanekeeping.cpp

 #include <pluginlib/class_list_macros.h>
 #include <ros/ros.h>
 
-#include "lanekeeping/lanekeeping.h"
+#include "lanekeeping/Lanekeeping.h"
 
 #include "car/camDataMsg.h"
 #include "car/environmentDataMsg.h"

modules/catkin_ws/src/car/src/logging/Logging.cpp

+//
+// Created by philipp on 22.03.18.
+//
+
+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "logging/Logging.h"
+
+PLUGINLIB_EXPORT_CLASS(car::Logging, nodelet::Nodelet
+);
+
+namespace car
+{
+
+Logging::Logging(ros::NodeHandle & nh, std::string & name) :
+    nh_(nh), name_(name)
+{}
+
+Logging::Logging()
+{}
+
+Logging::~Logging()
+{}
+
+void Logging::onInit()
+{
+    NODELET_INFO("Logging::onInit -- START");
+
+    camData = nh_.subscribe("camData", 1, &Logging::camDataCallback, this);
+    ccData = nh_.subscribe("ccData", 1, &Logging::ccDataCallback, this);
+    environmentData = nh_.subscribe("environmentData", 1, &Logging::environmentDataCallback, this);
+    laneData = nh_.subscribe("laneData", 1, &Logging::laneDataCallback, this);
+    logEnabled = nh_.subscribe("logEnabled", 1, &Logging::logEnabledCallback, this);
+    logString = nh_.subscribe("logString", 1, &Logging::logStringCallback, this);
+    rcEnabled = nh_.subscribe("rcEnabled", 1, &Logging::rcEnabledCallback, this);
+    stmData = nh_.subscribe("stmData", 1, &Logging::stmDataCallback, this);
+    ussData = nh_.subscribe("ussData", 1, &Logging::ussDataCallback, this);
+
+    NODELET_INFO("Logging::onInit -- END");
+}
+
+void Logging::ccDataCallback(const ccDataMsg::ConstPtr & inMsg)
+{
+    std::cout << "Logging received new cc data ( ).\n";
+}
+
+void Logging::camDataCallback(const camDataMsg::ConstPtr & inMsg)
+{
+    std::cout << "Logging received new cam data ( ).\n";
+}
+
+void Logging::environmentDataCallback(const environmentDataMsg::ConstPtr & inMsg)
+{
+    std::cout << "Logging received new environment data ( ).\n";
+}
+
+void Logging::laneDataCallback(const laneDataMsg::ConstPtr & inMsg)
+{
+    std::cout << "Logging received new lane data ( ).\n";
+}
+
+void Logging::logEnabledCallback(const logEnabledMsg::ConstPtr & inMsg)
+{
+    std::cout << "Logging received new log enabled ( ).\n";
+}
+
+void Logging::logStringCallback(const logStringMsg::ConstPtr & inMsg)
+{
+    std::cout << "Logging received new log string ( ).\n";
+}
+
+void Logging::rcEnabledCallback(const rcEnabledMsg::ConstPtr & inMsg)
+{
+    std::cout << "Logging received new rc enabled ( ).\n";
+}
+
+void Logging::stmDataCallback(const stmDataMsg::ConstPtr & inMsg)
+{
+    std::cout << "Logging received new stm data ( ).\n";
+}
+
+void Logging::ussDataCallback(const ussDataMsg::ConstPtr & inMsg)
+{
+    std::cout << "Logging received new uss data ( ).\n";
+}
+
+}
\ No newline at end of file

modules/catkin_ws/src/car/src/mainNode/mainNode.cpp → modules/catkin_ws/src/car/src/mainNode/MainNode.cpp

 #include <pluginlib/class_list_macros.h>
 #include <ros/ros.h>
 
-#include "mainNode/mainNode.h"
+#include "mainNode/MainNode.h"
 
 #include "car/camDataMsg.h"
 #include "car/ccDataMsg.h"

modules/catkin_ws/src/car/src/mavLink/mavLink.cpp → modules/catkin_ws/src/car/src/mavLink/MavLink.cpp

 #include <pluginlib/class_list_macros.h>
 #include <ros/ros.h>
 
-#include "mavLink/mavLink.h"
+#include "mavLink/MavLink.h"
 
 #include "car/stmDataMsg.h"
 #include "car/ccDataMsg.h"

modules/catkin_ws/src/car/src/ultrasonic/Ultrasonic.cpp

+#include <pluginlib/class_list_macros.h>
+#include <ros/ros.h>
+
+#include "ultrasonic/Ultrasonic.h"
+
+#include "car/ussDataMsg.h"
+
+PLUGINLIB_EXPORT_CLASS(car::Ultrasonic, nodelet::Nodelet
+);
+
+namespace car
+{
+Ultrasonic::Ultrasonic(ros::NodeHandle & nh, std::string & name) : nh_(nh), name_(name)
+{}
+
+Ultrasonic::Ultrasonic()
+{}
+
+Ultrasonic::~Ultrasonic()
+{}
+
+void Ultrasonic::onInit()
+{
+    NODELET_INFO("Ultrasonic::onInit -- START");
+    ussData = nh_.advertise<ussDataMsg>("ussData", 1);
+    main = boost::thread(
+        [this]()
+        {
+            int counter = 0;
+            ros::Rate rate{1};
+            while (ros::ok())
+            {
+                ussDataMsg msg;
+                msg.distance = counter++;
+                ussData.publish(msg);
+                rate.sleep();
+            }
+        });
+
+    NODELET_INFO("Ultrasonic::onInit -- END");
+}
+}