transport_delay_test.cpp
43cf953dc8cfmaster

transport_delay_test.cpp
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			#include "ros/ros.h"
			#include "test_package/aircraft_controls.h"
			#include "boost/date_time/posix_time/posix_time.hpp"
			#include "boost/thread.hpp"
			#include <random>

			/** PRBS generator node */
			int main(int argc, char** argv)
			{
			ros::init(argc, argv, "transport_delay_test");
			ros::NodeHandle handle;
			ros::Rate loop_rate(30);

			ros::Publisher pub = handle.advertise<test_package::aircraft_controls>("/controls", 100);
			test_package::aircraft_controls msg;
			msg.ailerons = 0;
			msg.flaps = 0;
			msg.rudder = 1;
			msg.thrust = 0;

			double rudder = 1;

			/** PRBS generator initialization */
			std::random_device device;
			std::mt19937 generator(device());
			std::uniform_int_distribution<> distribution(20, 50);

			int counter = 0;

			while(ros::ok())
			{
			// int duty_cycle = distribution(generator);
			// rudder = (rudder == 1) ? 0 : 1;
			// msg.rudder = rudder;
			// msg.header.stamp = ros::Time::now();
			// pub.publish(msg);
			// boost::this_thread::sleep(boost::posix_time::milliseconds(duty_cycle));

			if (counter < 200)
			{
			msg.rudder = 1.0;
			//std::cout << "case1: " << counter << "\n";
			}
			else if ((counter >= 200) && (counter < 400))
			{
			msg.rudder = 0.0;
			//std::cout << "case2: " << counter << "\n";
			}
			else
			counter = 0;

			msg.header.stamp = ros::Time::now();
			pub.publish(msg);
			++counter;

			loop_rate.sleep();
			}

			return 0;
			}