teleop_spacenav.cpp

/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

/*
 * Author: Stuart Glaser
 * modified by: Jan Heuer, Riccardo Polvara
 */

#include "geometry_msgs/Twist.h"
#include "geometry_msgs/Vector3.h"
#include "ros/node_handle.h"
#include "sensor_msgs/Joy.h"
#include "spnav.h"
#include <ros/ros.h>
#include <stdio.h>
#include "deep_reinforced_landing/SendCommand.h"
#include "std_msgs/Empty.h"

#define FULL_SCALE (350.0)
// Used to scale joystick output to be in [-1, 1].  Estimated from data, and not
// necessarily correct.

int main(int argc, char** argv)
{
  ros::init(argc, argv, "ardrone3dnav");

  ros::NodeHandle node_handle;
  // ros::Publisher offset_pub =
  // node_handle.advertise<geometry_msgs::Vector3>("spacenav/offset", 2);
  // ros::Publisher rot_offset_pub =
  // node_handle.advertise<geometry_msgs::Vector3>("spacenav/rot_offset", 2);
  ros::Publisher twist_pub =
      node_handle.advertise<geometry_msgs::Twist>("/quadrotor/cmd_vel", 2);
  // ros::Publisher joy_pub = node_handle.advertise<joy::Joy>("spacenav/joy",
  // 2);

  ros::Publisher land_pub =
      node_handle.advertise<std_msgs::Empty>("/quadrotor/ardrone/land", 2);
  ros::Publisher takeoff_pub =
      node_handle.advertise<std_msgs::Empty>("/quadrotor/ardrone/takeoff", 2);
  ros::Publisher reset_pub =
      node_handle.advertise<std_msgs::Empty>("/quadrotor/ardrone/reset", 2);
  ros::ServiceClient drl_client = node_handle.serviceClient<deep_reinforced_landing::SendCommand> ( "/drl/send_command" );
  deep_reinforced_landing::SendCommandRequest req;
  deep_reinforced_landing::SendCommandResponse res;

  if (spnav_open() == -1)
  {
    ROS_ERROR("Could not open the space navigator device.  Did you remember to "
              "run spacenavd (as root)?");

    return 1;
  }
  else
    ROS_INFO("Properly connected to the space navigator device.");

  sensor_msgs::Joy joystick_msg;
  joystick_msg.axes.resize(6);
  joystick_msg.buttons.resize(2);

  spnav_event sev;
  int no_motion_count = 0;
  bool motion_stale = false;
  geometry_msgs::Vector3 offset_msg;
  geometry_msgs::Vector3 rot_offset_msg;
  geometry_msgs::Twist twist_msg;
  std_msgs::Empty empty_msg;

  while (node_handle.ok())
  {
    bool joy_stale = false;
    bool queue_empty = false;

    // Sleep when the queue is empty.
    // If the queue is empty 30 times in a row output zeros.
    // Output changes each time a button event happens, or when a motion
    // event happens and the queue is empty.

    switch (spnav_poll_event(&sev))
    {
    case 0:
      queue_empty = true;

      if (++no_motion_count > 30)
      {
        offset_msg.x = offset_msg.y = offset_msg.z = 0;
        rot_offset_msg.x = rot_offset_msg.y = rot_offset_msg.z = 0;

        no_motion_count = 0;
        motion_stale = true;
      }

      break;

    case SPNAV_EVENT_MOTION:
      
      
      offset_msg.x = sev.motion.z / FULL_SCALE;
      offset_msg.y = -sev.motion.x / FULL_SCALE;
      offset_msg.z = sev.motion.y / FULL_SCALE;

      rot_offset_msg.x = sev.motion.rz / FULL_SCALE;
      rot_offset_msg.y = -sev.motion.rx / FULL_SCALE;
      rot_offset_msg.z = sev.motion.ry / FULL_SCALE;

      // printf("%lf  %lf  %lf\n", rot_offset_msg.x, rot_offset_msg.y,
      // rot_offset_msg.z);

      motion_stale = true;
      break;

    case SPNAV_EVENT_BUTTON:

      // printf("type, press, bnum = <%d, %d, %d>\n", sev.button.type,
      // sev.button.press, sev.button.bnum);
      // joystick_msg.buttons[sev.button.bnum] = sev.button.press;
      if (sev.button.press == 1)
      {
        switch (sev.button.bnum)
        {
        case 0:
          //takeoff_pub.publish(empty_msg);
          req.command = "takeoff";
          ros::service::call<>("/drl/send_command", req, res );
          ROS_INFO("The drone is taking off!");
          break;

        case 1:
          req.command = "descend";
          ros::service::call<>("/drl/send_command", req, res );
          //land_pub.publish(empty_msg);
          ROS_INFO("The drone is landing");
          break;

        case 6:
          reset_pub.publish(empty_msg);
          break;
        }
      }

      joy_stale = true;
      break;

    default:
      ROS_WARN("Unknown message type in spacenav. This should never happen.");
      break;
    }

    if (motion_stale && (queue_empty || joy_stale))
    {
      // offset_pub.publish(offset_msg);
      // rot_offset_pub.publish(rot_offset_msg);

      twist_msg.linear = offset_msg;
      twist_msg.angular = rot_offset_msg;
      twist_pub.publish(twist_msg);

      // joystick_msg.axes[0] = offset_msg.x / FULL_SCALE;
      // joystick_msg.axes[1] = offset_msg.y / FULL_SCALE;
      // joystick_msg.axes[2] = offset_msg.z / FULL_SCALE;
      // joystick_msg.axes[3] = rot_offset_msg.x / FULL_SCALE;
      // joystick_msg.axes[4] = rot_offset_msg.y / FULL_SCALE;
      // joystick_msg.axes[5] = rot_offset_msg.z / FULL_SCALE;

      no_motion_count = 0;
      motion_stale = false;
      joy_stale = true;
    }

    // if (joy_stale)
    //{
    //  joy_pub.publish(joystick_msg);
    //}

    if (queue_empty)
      usleep(1000);
  }

  return 0;
}