Luka Danilovic / Mbed OS PROJ515_USS_GPS

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Dependencies:   SRF05 ros_lib_kinetic TinyGPSPlus

PROJ515.hpp@0:215bdd87b602, 2019-04-22 (annotated)

Committer:
Luka_Danilovic
Date:
Mon Apr 22 18:28:24 2019 +0000
Revision:
0:215bdd87b602
Child:
1:ea2ee36038e7
Started adding ROS components;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
Luka_Danilovic 0:215bdd87b602 1 #ifndef __PROJ515_H__ //Inclusion safeguards
Luka_Danilovic 0:215bdd87b602 2 #define __PROJ515_H__ //Definition of the inclusion
Luka_Danilovic 0:215bdd87b602 3 /*============================================================================*/
Luka_Danilovic 0:215bdd87b602 4
Luka_Danilovic 0:215bdd87b602 5 /* Libraries */
Luka_Danilovic 0:215bdd87b602 6 #include "mbed.h" // Mbed RTOS
Luka_Danilovic 0:215bdd87b602 7 #include "hcsr04.h" // HCSR04 ultrasound sensor libary
Luka_Danilovic 0:215bdd87b602 8 #include "ros.h" // ROS Library
Luka_Danilovic 0:215bdd87b602 9 #include "sensor_msgs/Range.h" // ROS Sensor Messages component
Luka_Danilovic 0:215bdd87b602 10 //#include "std_msgs/Char.h" // ROS Standard Messages component
Luka_Danilovic 0:215bdd87b602 11
Luka_Danilovic 0:215bdd87b602 12
Luka_Danilovic 0:215bdd87b602 13 /* Definitions */
Luka_Danilovic 0:215bdd87b602 14 #define LEDS_OFF 0x00 // LED bus all off
Luka_Danilovic 0:215bdd87b602 15 #define LEDS_ON 0x07 // LED bus all on
Luka_Danilovic 0:215bdd87b602 16 #define ULS_EC PC_10 // Ultrasound Trigger Pin
Luka_Danilovic 0:215bdd87b602 17 #define ULS_TG PC_11 // Ultrasound Echo Pin
Luka_Danilovic 0:215bdd87b602 18
Luka_Danilovic 0:215bdd87b602 19 #define ROS_Baud 921600 // ROS Baud Rate
Luka_Danilovic 0:215bdd87b602 20 #define frameID "ultrasound_range" // ROS frame ID
Luka_Danilovic 0:215bdd87b602 21
Luka_Danilovic 0:215bdd87b602 22 #define ULTRASOUND 0x00 // Ultrasound
Luka_Danilovic 0:215bdd87b602 23 #define PRINT_DATA 0x01 // Thread communication event to print data
Luka_Danilovic 0:215bdd87b602 24
Luka_Danilovic 0:215bdd87b602 25 /* Declarations */
Luka_Danilovic 0:215bdd87b602 26 extern unsigned int cmDistance1; // Distance measured by u_sensor_1 in cm
Luka_Danilovic 0:215bdd87b602 27 extern float sPeriod; // Sampling period of the sensors (sec)
Luka_Danilovic 0:215bdd87b602 28
Luka_Danilovic 0:215bdd87b602 29 /* GPIO */
Luka_Danilovic 0:215bdd87b602 30 DigitalIn bttn(USER_BUTTON); // Onboard blue user button
Luka_Danilovic 0:215bdd87b602 31 BusOut leds(LED1, LED2, LED3); // Onboard LEDs bus
Luka_Danilovic 0:215bdd87b602 32
Luka_Danilovic 0:215bdd87b602 33 /* Instantiations */
Luka_Danilovic 0:215bdd87b602 34 HCSR04 usensor1(ULS_TG,ULS_EC); // Ultrasound sensor 1
Luka_Danilovic 0:215bdd87b602 35 Serial usbSer(USBTX, USBRX); // Serial over USB OTG
Luka_Danilovic 0:215bdd87b602 36 NodeHandle nh; // Instance for ROS Node Handler
Luka_Danilovic 0:215bdd87b602 37 Range ultrasound_msg; // Instance for ROS NavSatFix message
Luka_Danilovic 0:215bdd87b602 38 // Instance for ROS publisher (Odometry Message)
Luka_Danilovic 0:215bdd87b602 39 Publisher ultrasound_pub("ultrasound_range", &ultrasound_msg);
Luka_Danilovic 0:215bdd87b602 40
Luka_Danilovic 0:215bdd87b602 41 /* Namespaces */
Luka_Danilovic 0:215bdd87b602 42 using namespace std; // Make all std symbols visible
Luka_Danilovic 0:215bdd87b602 43 using namespace ros; // Make all ros symbols visible
Luka_Danilovic 0:215bdd87b602 44 using namespace sensor_msgs; // Make all sensor_msgs symbols visible
Luka_Danilovic 0:215bdd87b602 45 using namespace std_msgs; // Make all sdt_msgs symbols visible
Luka_Danilovic 0:215bdd87b602 46
Luka_Danilovic 0:215bdd87b602 47 /* Threads and Signals */
Luka_Danilovic 0:215bdd87b602 48 //Thread myThread (osPriorityNormal);
Luka_Danilovic 0:215bdd87b602 49 //EventFlags myEventFlag;
Luka_Danilovic 0:215bdd87b602 50
Luka_Danilovic 0:215bdd87b602 51 /* Function Prototypes */
Luka_Danilovic 0:215bdd87b602 52 //void myFunctionPrototype();
Luka_Danilovic 0:215bdd87b602 53
Luka_Danilovic 0:215bdd87b602 54 /*============================================================================*/
Luka_Danilovic 0:215bdd87b602 55 #endif // End of inclusion