Diff: variables/instanceHeader.hpp

Revision:

0:4ff8aeb3e4d1

Child:

1:2594a70c1ddd

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/variables/instanceHeader.hpp	Fri Apr 02 05:24:49 2021 +0000
@@ -0,0 +1,69 @@
+#ifndef ZETA_STM_KINETIC_INSTANCEHEADER_H_
+#define ZETA_STM_KINETIC_INSTANCEHEADER_H_
+#include "mbed.h"
+#include "rosHeader.hpp"
+#include "moduleHeader.hpp"
+#include "callbackHeader.hpp"
+#include "defineHeader.h"
+
+/* COM variables ------------------------------------------------------------ */
+    #if (NO_ROS)
+extern mbed::Serial pc;
+    #else
+extern ros::NodeHandle nh;
+    #endif
+extern mbed::Serial bt;
+
+/* ROS variables ------------------------------------------------------------ */
+// Publisher
+sensor_msgs::Imu imu_msg;
+ros::Publisher IMU_publisher("imu", &imu_msg);
+
+std_msgs::Bool EStop_msg;
+ros::Publisher EStop_publisher("estop", &EStop_msg);
+std_msgs::Bool Bumper_msg;
+ros::Publisher Bumper_publisher("bumper", &Bumper_msg);
+
+zetabot_main::SonarArray US_msg;
+ros::Publisher US_publisher("sonar", &US_msg);
+
+std_msgs::String Bluetooth_msg;
+ros::Publisher Bluetooth_publisher("autocharge_state_INO", &Bluetooth_msg);
+
+// Subscriber
+void ModuleControlCB(const zetabot_main::ModuleControlMsgs& msg);
+ros::Subscriber<zetabot_main::ModuleControlMsgs> ModuleControl_subscriber("module_control_NUC",ModuleControlCB);
+zetabot_main::ModuleControlMsgs moduleControlMsg;
+
+void BluetoothCB(const std_msgs::UInt8& msg);
+ros::Subscriber<std_msgs::UInt8> Bluetooth_subscriber("autocharge_state_NUC", &BluetoothCB);
+
+
+/* Threads and Timers ------------------------------------------------------- */
+Thread gThread[NUM_THREAD];
+
+Timer waitTmr;
+
+
+/* Modules ------------------------------------------------------------------ */
+// Driving non-related modules
+extern MODULE module;
+RELAY relay(CHARGE_RELAYP,CHARGE_RELAYN);
+// Driving related modules
+
+MPU9250_SPI mpu(IMU_MOSI, IMU_MISO, IMU_SCK, IMU_NCS, IMU_INT);
+
+HCSR04 sonar[NUM_SONAR] = {
+    HCSR04(SONAR0_ECHO, SONAR0_TRIG, SONAR_FILTER_WS), HCSR04(SONAR1_ECHO, SONAR1_TRIG, SONAR_FILTER_WS),
+    HCSR04(SONAR2_ECHO, SONAR2_TRIG, SONAR_FILTER_WS), HCSR04(SONAR3_ECHO, SONAR3_TRIG, SONAR_FILTER_WS),
+    HCSR04(SONAR4_ECHO, SONAR4_TRIG, SONAR_FILTER_WS,1), HCSR04(SONAR5_ECHO, SONAR5_TRIG, SONAR_FILTER_WS,1),
+    HCSR04(SONAR6_ECHO, SONAR6_TRIG, SONAR_FILTER_WS), HCSR04(SONAR7_ECHO, SONAR7_TRIG, SONAR_FILTER_WS),
+    HCSR04(SONAR8_ECHO, SONAR8_TRIG, SONAR_FILTER_WS), HCSR04(SONAR9_ECHO, SONAR9_TRIG, SONAR_FILTER_WS),
+    HCSR04(SONAR10_ECHO, SONAR10_TRIG, SONAR_FILTER_WS)
+    };
+
+EStop estop(ESTOP_PIN);
+
+/* For test ----------------------------------------------------------------- */
+
+#endif
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