Add Steering and GPS Publishers

src/fsae_electric_vehicle/src/cpp/gps/main.cpp

@@ -1,3 +1,6 @@
+#include <ctime>
+#include <stdlib.h>
+
 #include "ros/ros.h"
 #include "fsae_electric_vehicle/gps.h"
 
@@ -17,11 +20,28 @@ int main(int argc, char **argv) {
   ros::Rate loop_rate{5};
   std::cout << "Init!" << std::endl;
 
-  int x = 0;
+  // Coordinates for JD Hall
+  float x = 34.241993;
+  float y = -118.528624;
+
+  float alt = 0;
+  float sats = 0;
+  float t_start = time(0); // current time
+
+  srand(static_cast <unsigned> (time(0)));
 
   while (ros::ok()) {
     gps.latitude = x;
-    x++;
+    gps.longitude = y;
+    gps.alt = alt;
+    gps.sats = sats;
+    gps.time = time(0) - t_start;
+
+    x += (-0.00001) + static_cast<float>(rand()) / 
+      (static_cast<float> (RAND_MAX/(0.00001+0.00001))); // set values for simulation ONLY
+    y += (-0.00001) + static_cast<float>(rand()) / 
+      (static_cast<float> (RAND_MAX/(0.00001+0.00001)));
+
     gps_topic.publish(gps);
     ros::spinOnce();
     loop_rate.sleep();

src/fsae_electric_vehicle/src/cpp/socketsender/main.cpp

@@ -4,11 +4,23 @@
 #include "fsae_electric_vehicle/speedometer.h"
 #include "std_msgs/String.h"
 
-#include <WinSock2.h>
-#include <Ws2tcpip.h>
-#pragma comment(lib, "Ws2_32.lib")
+#ifdef _WIN32
+ #include <WinSock2.h>
+ #include <Ws2tcpip.h>
+ #pragma comment(lib, "Ws2_32.lib")
+#else
+ #include <sys/types.h>
+ #include <sys/socket.h>
+ #include <arpa/inet.h>
+ #include <netdb.h>
+ #include <unistd.h>
+#endif
 
-SOCKET sd;
+#ifdef _WIN32
+  SOCKET sd;
+#else
+  int sd;
+#endif
 
 void speedCallback(const fsae_electric_vehicle::speedometer::ConstPtr& msg) {
      ROS_INFO("I heard: [%f]", msg->speed);
@@ -18,7 +30,7 @@ void speedCallback(const fsae_electric_vehicle::speedometer::ConstPtr& msg) {
     struct sockaddr_in addr;
     std::memset(&addr, 0, sizeof(addr));
     addr.sin_family = AF_INET;
-    InetPton(AF_INET, "127.0.0.1", &(addr.sin_addr));
+    inet_pton(AF_INET, "127.0.0.1", &(addr.sin_addr)); //changed to ANSI version for compatibility
     addr.sin_port = htons(1234);
      sendto(sd, buf, 4, 0, reinterpret_cast<sockaddr*>(&addr), sizeof(addr));
    }
@@ -35,8 +47,14 @@ int main(int argc, char **argv) {
   addr.sin_port = htons(1232);
 
       int optval = 1;
+
+  #ifdef _WIN32    
     setsockopt(sd, SOL_SOCKET, SO_EXCLUSIVEADDRUSE,
                reinterpret_cast<char*>(&optval), sizeof optval);
+  #else
+    setsockopt(sd, SOL_SOCKET, SO_REUSEADDR,
+               reinterpret_cast<char*>(&optval), sizeof optval);
+  #endif
 
   bind(sd, reinterpret_cast<sockaddr*>(&addr), sizeof(addr));
 
@@ -49,6 +67,11 @@ int main(int argc, char **argv) {
 
   ros::spin();
 
-  ::shutdown(sd, SD_BOTH);
-  closesocket(sd);
+  #ifdef _WIN32
+    shutdown(sd, SD_BOTH);
+    closesocket(sd);
+  #else
+    shutdown(sd, SHUT_RDWR);
+    close(sd);
+  #endif
 }

src/fsae_electric_vehicle/src/cpp/steering/main.cpp

@@ -0,0 +1,53 @@
+#include <cmath>
+
+#include "ros/ros.h"
+#include "fsae_electric_vehicle/steering.h"
+
+#define PI 3.1415926535
+
+int main(int argc, char **argv) {
+  std::cout << "WHAT!?" << std::endl;
+  ros::init(argc, argv, "Steering");
+  std::cout << "After init" << std::endl;
+  ros::NodeHandle n;
+  std::cout << "After node handle" << std::endl;
+
+  ros::Publisher steering_topic = n.advertise<fsae_electric_vehicle::steering>
+                                  ("steering", 1000);
+
+  std::cout << "After publisher" << std::endl;
+
+  fsae_electric_vehicle::steering steering;
+
+  ros::Rate loop_rate{5};
+  std::cout << "Init!" << std::endl;
+
+  //assumes data output includes values from 0-1023
+  //int x = 0.0;
+  int pos = 1023/2; //middle forward position
+  bool right == true;
+
+
+  while (ros::ok()) {
+    steering.value = pos;
+
+    // check if this produces sinusoidal output
+    //x += 0.01;
+    //pos = static_cast<int>(1023/2 * sin(x) + 1023/2); 
+
+    //should produce pure linear output (like a triangle wave)
+    if(right == true)
+      pos++;
+    else if(right == false)
+      pos--;
+
+    if(pos == 1023)
+      right = false;
+    else if(pos == 0)
+      right = true;
+
+    steering_topic.publish(steering);
+    ros::spinOnce();
+    loop_rate.sleep();
+  }
+}