From 694d9136159bbc0a54efa6076f6272b8f5d252e5 Mon Sep 17 00:00:00 2001
From: Hoop77 <p.badenhoop@gmx.de>
Date: Thu, 22 Mar 2018 16:50:05 +0100
Subject: [PATCH] logging node finished and pc side implemented
---
modules/catkin_ws/src/PC/CMakeLists.txt | 15 +++++
modules/catkin_ws/src/PC/include/Logging.h | 31 ++++++++++
modules/catkin_ws/src/PC/src/Logging.cpp | 58 +++++++++++++++++++
modules/catkin_ws/src/PC/src/main.cpp | 8 +++
.../src/car/include/logging/Logging.h | 7 +++
.../catkin_ws/src/car/src/logging/Logging.cpp | 25 +++++++-
6 files changed, 142 insertions(+), 2 deletions(-)
create mode 100644 modules/catkin_ws/src/PC/CMakeLists.txt
create mode 100644 modules/catkin_ws/src/PC/include/Logging.h
create mode 100644 modules/catkin_ws/src/PC/src/Logging.cpp
create mode 100644 modules/catkin_ws/src/PC/src/main.cpp
diff --git a/modules/catkin_ws/src/PC/CMakeLists.txt b/modules/catkin_ws/src/PC/CMakeLists.txt
new file mode 100644
index 00000000..226a1708
--- /dev/null
+++ b/modules/catkin_ws/src/PC/CMakeLists.txt
@@ -0,0 +1,15 @@
+cmake_minimum_required(VERSION 3.9)
+project(PC)
+
+set(CMAKE_CXX_STANDARD 14)
+
+find_package(Boost REQUIRED COMPONENTS regex system)
+
+set(SOURCE_FILES
+ src/main.cpp
+ src/Logging.cpp
+ include/Logging.h)
+
+add_executable(PC ${SOURCE_FILES})
+
+target_link_libraries(PC ${Boost_LIBRARIES})
\ No newline at end of file
diff --git a/modules/catkin_ws/src/PC/include/Logging.h b/modules/catkin_ws/src/PC/include/Logging.h
new file mode 100644
index 00000000..edfcc572
--- /dev/null
+++ b/modules/catkin_ws/src/PC/include/Logging.h
@@ -0,0 +1,31 @@
+//
+// Created by philipp on 22.03.18.
+//
+
+#ifndef PC_LOGGING_H
+#define PC_LOGGING_H
+
+#include <boost/asio.hpp>
+
+namespace pc
+{
+
+class Logging
+{
+public:
+ explicit Logging(std::uint16_t port)
+ : port(port)
+ {}
+
+ void start();
+ void stop();
+
+private:
+ std::uint16_t port;
+ std::atomic<bool> running{false};
+ boost::asio::io_service ioService;
+};
+
+}
+
+#endif //PC_LOGGING_H
diff --git a/modules/catkin_ws/src/PC/src/Logging.cpp b/modules/catkin_ws/src/PC/src/Logging.cpp
new file mode 100644
index 00000000..8c5153e8
--- /dev/null
+++ b/modules/catkin_ws/src/PC/src/Logging.cpp
@@ -0,0 +1,58 @@
+//
+// Created by philipp on 22.03.18.
+//
+
+#include <iostream>
+#include "../include/Logging.h"
+
+namespace pc
+{
+
+void Logging::start()
+{
+ using boost::asio::ip::tcp;
+
+ if (running)
+ return;
+
+ running = true;
+ tcp::endpoint endpoint{tcp::v4(), port};
+ tcp::acceptor acceptor{ioService, endpoint};
+
+ while (running)
+ {
+ try
+ {
+ tcp::iostream stream;
+ boost::system::error_code ec;
+ acceptor.accept(*stream.rdbuf(), ec);
+ if (ec)
+ continue;
+
+ while (running)
+ {
+ std::string msg;
+ stream >> msg;
+ std::cout << msg << std::endl;
+ if (stream.error())
+ {
+ if (stream.error() != boost::asio::error::eof)
+ std::cerr << "LOGGING ERROR: " << stream.error().message() << "\n";
+
+ break;
+ }
+ }
+ }
+ catch (const std::exception & e)
+ {
+ std::cerr << "LOGGING ERROR: " << e.what() << "\n";
+ }
+ }
+}
+
+void Logging::stop()
+{
+ running = false;
+}
+
+}
\ No newline at end of file
diff --git a/modules/catkin_ws/src/PC/src/main.cpp b/modules/catkin_ws/src/PC/src/main.cpp
new file mode 100644
index 00000000..3594c9a7
--- /dev/null
+++ b/modules/catkin_ws/src/PC/src/main.cpp
@@ -0,0 +1,8 @@
+#include "../include/Logging.h"
+
+int main()
+{
+ pc::Logging logging{10207};
+ logging.start();
+ return 0;
+}
\ No newline at end of file
diff --git a/modules/catkin_ws/src/car/include/logging/Logging.h b/modules/catkin_ws/src/car/include/logging/Logging.h
index 0c0f969c..a6d7e7f0 100644
--- a/modules/catkin_ws/src/car/include/logging/Logging.h
+++ b/modules/catkin_ws/src/car/include/logging/Logging.h
@@ -8,6 +8,8 @@
#include <nodelet/nodelet.h>
#include <ros/ros.h>
+#include <boost/asio.hpp>
+
#include "car/camDataMsg.h"
#include "car/ccDataMsg.h"
#include "car/environmentDataMsg.h"
@@ -35,6 +37,9 @@ private:
ros::NodeHandle nh_;
std::string name_;
+ std::string host{"127.0.0.1"};
+ std::string port{"10207"};
+
ros::Subscriber camData;
ros::Subscriber ccData;
ros::Subscriber environmentData;
@@ -45,6 +50,8 @@ private:
ros::Subscriber stmData;
ros::Subscriber ussData;
+ void logMessage(const std::string & str);
+
void camDataCallback(const camDataMsg::ConstPtr & inMsg);
void ccDataCallback(const ccDataMsg::ConstPtr & inMsg);
void environmentDataCallback(const environmentDataMsg::ConstPtr & inMsg);
diff --git a/modules/catkin_ws/src/car/src/logging/Logging.cpp b/modules/catkin_ws/src/car/src/logging/Logging.cpp
index 688eacfd..cef2c2ff 100644
--- a/modules/catkin_ws/src/car/src/logging/Logging.cpp
+++ b/modules/catkin_ws/src/car/src/logging/Logging.cpp
@@ -7,8 +7,7 @@
#include "logging/Logging.h"
-PLUGINLIB_EXPORT_CLASS(car::Logging, nodelet::Nodelet
-);
+PLUGINLIB_EXPORT_CLASS(car::Logging, nodelet::Nodelet);
namespace car
{
@@ -40,6 +39,27 @@ void Logging::onInit()
NODELET_INFO("Logging::onInit -- END");
}
+void Logging::logMessage(const std::string & msg)
+{
+ try
+ {
+ using boost::asio::ip::tcp;
+ tcp::iostream stream;
+ stream.expires_from_now(boost::posix_time::seconds(10));
+ stream.connect(host, port);
+ if (stream.error())
+ {
+ NODELET_ERROR_STREAM("Logging: Could not connect to PC!\n" << stream.error().message());
+ return;
+ }
+ stream << msg;
+ }
+ catch (const std::exception & e)
+ {
+ NODELET_ERROR_STREAM("Logging: Could not connect to PC!\n" << e.what());
+ }
+}
+
void Logging::ccDataCallback(const ccDataMsg::ConstPtr & inMsg)
{
std::cout << "Logging received new cc data ( ).\n";
@@ -53,6 +73,7 @@ void Logging::camDataCallback(const camDataMsg::ConstPtr & inMsg)
void Logging::environmentDataCallback(const environmentDataMsg::ConstPtr & inMsg)
{
std::cout << "Logging received new environment data ( ).\n";
+ logMessage(std::string{"Environment [distance]: "} + std::to_string(inMsg->distance));
}
void Logging::laneDataCallback(const laneDataMsg::ConstPtr & inMsg)
--
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