Re: [ros-users] C++ type conversion error

>  const double r=0.125, R=0.55, ratio=127;       // initialize constants

>  int main(int argc, char **argv)
>  {
>        unsigned ms1, ms2, ms3, ms4;                    //motor speeds of
> omnimaxbot
>        int i, j, wr, rd, x=0, y=0, z=0, fd, numSent=0;
>        char parseChar[1], stringIn[50];

>        // unsigned long bytes_read     = 0;            //Number of bytes
> read from port
>        // unsigned long bytes_written  = 0;            //Number of bytes
> written to the port

>        int bStatus;
>        struct termios options;         //Contains various port settings

>        // attempt to open serial port

>        fd = open("/dev/HCS12",O_RDWR | O_NOCTTY | O_NDELAY);

>        // set settings for serial port

>        system("stty -F /dev/HCS12 115200 cs8 -cstopb -parity -icanon hupcl
> -crtscts min 1 time 1");

>        // check for errors opening port

>        if (fd == -1 )

>        {

>                printf("open_port: Unable to open /dev/HCS12");

>        }

>        else // if no error

>        {

>                fcntl(fd, F_SETFL,0);

>                printf("Test Port HCS12 has been successfully opened and %d
> is the file
> description\n",fd);

>        }

>        // get current settings of serial ports
>        tcgetattr(fd, &options);

>        // set the read and write speeds
>        cfsetispeed(&options, B115200);
>        cfsetospeed(&options, B115200);

>        // set parity
>        options.c_cflag &= ~CSIZE;
>        options.c_cflag |= CS8;

>        if (bStatus != 0)
>        {
>                cout << "byte status error!" << endl;
>        }

>        // initalize node
>        ros::init(argc, argv, "joyTalker");
>        ros::NodeHandle joyTalker;

>        // Publish to topic joyChatter
>        ros::Publisher pub =
> joyTalker.advertise<std_msgs::String>("joyChatter",
> 1000);

>        ros::Rate r(10);

>        while (joyTalker.ok())
>        {
>                parseChar[0]=0;

>                for(j=0; j<50; j++)
>                {
>                        stringIn[j]=0;
>                }

>                i=0;

>                while(parseChar[0] != 10)
>                {
>                        if(i==50)       // exceeds the allowable size
>                        {
>                                break;
>                        }

>                        rd = read(fd,parseChar,1);
>                        // printf("%s ",parseChar);
>                        if ((parseChar[0] > 43) && ((parseChar[0] < 58) ||
> (parseChar[0]==32)))
>                        {
>                                stringIn[i]=parseChar[0];
>                                i++;
>                        }

>                        if (wr != 0)
>                        {
>                                cout << "byte status error!!!" << endl;
>                        }

>                        // kinematics of the omnimaxbot
>                        ms1 =
> ((x/sqrt(2))+y+(R*tan((z/ratio)*(2*PI))))/((2*PI)*r);
>                        ms2 =
> (-(x/sqrt(2))+y+(R*tan((z/ratio)*(2*PI))))/((2*PI)*r);
>                        ms3 =
> ((x/sqrt(2))+y-(R*tan((z/ratio)*(2*PI))))/((2*PI)*r);
>                        ms4 =
> (-(x/sqrt(2))+y-(R*tan((z/ratio)*(2*PI))))/((2*PI)*r);

>                        fd = open("/dev/Driver1&2",O_RDWR | O_NOCTTY |
> O_NDELAY);

>                        if (fd == -1 )

>                        {

>                                perror("open_port: Unable to open
> /dev/Driver1&2");

>                        }

>                        // send to ROS node for communication
>                        numSent = sprintf(stringIn, "%3d,%3d\n", ms1, ms2);
>                        // status[0] = Serial_SendBlock(stringIn, numSent,
> &numSentS);

>                        fd = open("/dev/Driver3&4",O_RDWR | O_NOCTTY |
> O_NDELAY);

>                        if (fd == -1 )

>                        {

>                                perror("open_port: Unable to open
> /dev/Driver3&4");

>                        }

>                        // send to ROS node for communication
>                        numSent = sprintf(stringIn, "%3d,%3d\n", ms3, ms4);
>                        // status[0] = Serial_SendBlock(stringIn, numSent,
> &numSentS);
>                }

>                printf("got this string %s\n",stringIn);

>                // convert message to string for ROS node communication
>                std_msgs::String msg;
>                std::stringstream ss;
>                ss << stringIn;
>                ROS_INFO("%s", ss.str().c_str());
>                msg.data = ss.str();
>                // publish data under topic joyChatter
>                pub.publish(msg);

>                ros::spinOnce();
>        }