update message definition

catkin_ws/src/uwb_interface/README.md

@@ -4,12 +4,11 @@ The UWB Interface package was designed to publish ranging data received from the
 
 Field | Data Type/Size | Units
 --- | --- | --- 
+Source Address | (16 character hex string) |
 Anchor Address | (16 character hex string) | 
 Tag Address    | (16 character hex string) | 
 Range          | (32 bit integer)          | mm
-Raw Range      | (32 bit integer)          | mm
 
-**_NOTE:_** //TODO explain the difference between range and raw range
 
 ## Setup
 
@@ -17,7 +16,7 @@ Raw Range      | (32 bit integer)          | mm
 
 //TODO say how to determine the correct serial path.
 
-**_NOTE:_** This package requires that the EVK1000s be loaded with the firmware found in the `uwb-firmware` repository; it will not work with stock firmware.
+**_NOTE:_** This package requires that the EVK1000s be loaded with the firmware found in the `uwb-firmware` repository. It will not work with stock firmware.
 
 
 ## Running
@@ -28,7 +27,7 @@ The UWB Interface package can be run with the following:
 rosrun uwb_interface uwb_interface_node -p /dev/ttyAMC0
 ```
 
-**_NOTE:_** Roscore must be running first. 
+**_NOTE:_** Roscore must be running first.\
 **_NOTE:_** The argument after `-p` is the path to the USB port connection and may not be the same as listed above. See the [Setup Section](##Setup) for how to find the correct path.
 
 To test that the node is functioning correctly run the following in another terminal
@@ -40,9 +39,9 @@ rostopic echo /uwb/range
 If functioning correctly, messages similar to the following should periodically be printed to the terminal.
 
 ```
+source_address: "109862205f8b5950" 
 tag_address: "109862205f8b5950"
 anchor_address: "112767325102118c"
 range: 559
-range_raw: 389
 ---
 ```
\ No newline at end of file

catkin_ws/src/uwb_interface/msg/range_event.msg

+string source_address
 string tag_address
 string anchor_address
-int32 range
-int32 range_raw
\ No newline at end of file
+int32 range
\ No newline at end of file

catkin_ws/src/uwb_interface/src/uwb_interface.cpp

@@ -237,10 +237,7 @@ namespace uwb_interface{
                             printf("UWB address wrong length: %s \n", token);
                             return;
                         }
-
-                        //TODO add source address to range_msg
-                        //TODO remove t,a from range_msg
-                        //TODO remove rng_raw from range_msg
+                        range_msg.source_address = token; //cast to string?
 
                         break;
                     case 1: //anchor address
@@ -283,87 +280,4 @@ namespace uwb_interface{
             uwb_range_pub.publish(range_msg);
         }
     }
-
-
-
-    // void publish_serial_data(char data[])
-    // {
-    //     //TODO modify this to catch multiple lines
-
-    //     //the UWB sends a single string with the following information over USB for each range calculation:
-    //     //the values are hexidecimal encoded and space separated.
-    //     //source address         (16 character)
-    //     //ranging anchor address (16 characters)
-    //     //ranging tag address    (16 characters)
-    //     //range                  (8 characters)
-
-    //     //The values are in contained in a single string separated by 
-
-    //     //strip carriage return (\r) and newline (\n) from the end of the character array
-    //     data[59] = ' ';
-    //     data[60] = ' ';
-        
-    //     // Returns first token  
-    //     char *token = strtok(data, " "); 
-    
-    //     // Keep printing tokens while one of the 
-    //     // delimiters present in str[]. 
-    //     int idx = 0;
-        
-    //     while (token != NULL) 
-    //     {
-    //         // printf("token: %s, idx: %i \n", token, idx); 
-            
-    //         switch(idx)
-    //         {
-    //             case 0: //check if data is from anchor or tag
-    //                 if(!(strlen(token) == 4 || strlen(token) == 16)){
-    //                     printf("UWB address wrong length: %s \n", token);
-    //                     return;
-    //                 }
-
-    //                 //TODO add source address to range_msg
-    //                 //TODO remove t,a from range_msg
-    //                 //TODO remove rng_raw from range_msg
-
-    //                 break;
-    //             case 1: //anchor address
-    //                 if(!(strlen(token) == 4 || strlen(token) == 16)){
-    //                     printf("anchor address wrong length: %s \n", token);
-    //                     return;
-    //                 } 
-                    
-    //                 range_msg.anchor_address = token; //cast to string?
-              
-    //                 break;
-    //             case 2: //tag address
-    //                 if(!(strlen(token) == 4 || strlen(token) == 16)){
-    //                     printf("tag address wrong length: %s \n", token);
-    //                     return;
-    //                 } 
-
-    //                 range_msg.tag_address = token; //cast to string?
-                    
-    //                 break;
-    //             case 3: //corrected range
-                    
-    //                 if(strlen(token) != 8){
-    //                     printf("range data size incorrect: %s \n", token);
-    //                     return;
-    //                 }
-                    
-    //                 range_msg.range = (uint32_t)strtol(token, 0, 16);;
-                    
-    //                 break;
-    //             default:
-    //                 token = NULL; //stop processing the serial data
-    //                 break;
-    //         }
-
-    //         token = strtok(NULL, " ");
-    //         idx++; 
-    //     }
-        
-    //     uwb_range_pub.publish(range_msg);
-    // }
 }