Work to change port if app is newly started.

src/axis_imu.cc

@@ -117,11 +117,11 @@ private:
       az = bytesToDouble(58);
       if (recv_buffer_[0] == 'G') {
         have_gyro_flag = true;
-        // ROS_ERROR("         GYRO: %f - %f %f %f", gtime, gx, gy, gz);        
+        ROS_INFO("         GYRO: %f - %f %f %f", gtime, gx, gy, gz);        
       }
       if (recv_buffer_[33] == 'A') {
         have_acc_flag = true;
-        // ROS_ERROR("ACCELEROMETER: %f - %f %f %f", atime, ax, ay, az);
+        ROS_INFO("ACCELEROMETER: %f - %f %f %f", atime, ax, ay, az);
       }
 
       double ptime = 0.0;
@@ -133,7 +133,7 @@ private:
         ptime = bytesToDouble(67);
         pan = bytesToDouble(75);
         tilt = bytesToDouble(83);
-        ROS_ERROR("POSITION TIME - PAN TILT: %f - %f %f", pan, tilt);
+        ROS_INFO("POSITION TIME - PAN TILT: %f - %f %f", pan, tilt);
       }
 
       if (!have_gyro_flag) {
@@ -277,17 +277,25 @@ int main(int argc, char *argv[]) {
 
   // currently fixed rate out so set div to 0
 
-  gyro_div = 0;
-  accel_div = 0;
+  gyro_div = 1;
+  accel_div = 1;
 
   std::ostringstream os;
+  std::ostringstream osstop;
+
+  osstop << "http://" << camera_ip << "/local/motionloggerudp/control.cgi?cmd=stop";
+  
 
   os << "http://" << camera_ip
      << "/local/motionloggerudp/control.cgi?cmd=start&target_ip=" << driver_ip
      << "&target_port=" << port
-     << "&accel_enabled=1&accel_rate_div=" << accel_div << "&gyro_enabled=1&gyro_rate_div=" << gyro_div << "&pos_enabled=1";
+     << "&accel_enabled=1&accel_rate_div=" << accel_div << "&gyro_enabled=1&gyro_rate_div=" << gyro_div << "&pos_enabled=1"
+    ;
+
+  std::string stopurl = osstop.str();
   std::string url = os.str();
 
+  // ROS_INFO("STOPCOMMAND URL: %s", stopurl.c_str());
   ROS_INFO("COMMAND URL: %s", url.c_str());
 
   CURL *curl;
@@ -313,7 +321,18 @@ int main(int argc, char *argv[]) {
     } else {
       ROS_INFO("Curl call succeeded");
     }
-    
+
+#if 0
+    sleep(3);
+    curl_easy_setopt(curl, CURLOPT_URL, url.c_str());
+    /* Check for errors */ 
+    if(res != CURLE_OK) {
+      fprintf(stderr, "curl_easy_perform() failed: %s\n",
+              curl_easy_strerror(res));
+    } else {
+      ROS_INFO("Curl call succeeded");
+    }
+#endif    
     /* always cleanup */ 
     curl_easy_cleanup(curl);
   } else {
@@ -330,6 +349,8 @@ int main(int argc, char *argv[]) {
   
   ROS_INFO("runUDPServer");
 
+  //runUDPServer(port);
+
   runUDPServer(port);
   
   return 0;