Juan Salazar / robotic_fish_7

All mbed code for control over dive planes, pump motor, valve motor, BCUs, UART interface, etc.

Dependencies:   mbed ESC mbed MODDMA

robotic_fish_6/ROSControl/ROSController.h@0:c3a329a5b05d, 2020-01-14 (annotated)

Committer:
juansal12
Date:
Tue Jan 14 19:17:05 2020 +0000
Revision:
0:c3a329a5b05d
Sofi7 mbed code;

Who changed what in which revision?

UserRevisionLine numberNew contents of line
juansal12 0:c3a329a5b05d 1 /*
juansal12 0:c3a329a5b05d 2 * ROSController.h
juansal12 0:c3a329a5b05d 3 *
juansal12 0:c3a329a5b05d 4 * Author: Joseph DelPreto
juansal12 0:c3a329a5b05d 5 */
juansal12 0:c3a329a5b05d 6
juansal12 0:c3a329a5b05d 7 //#define rosControl
juansal12 0:c3a329a5b05d 8
juansal12 0:c3a329a5b05d 9 #ifdef rosControl
juansal12 0:c3a329a5b05d 10
juansal12 0:c3a329a5b05d 11 #ifndef ROSCONTROL_ROSCONTROLLER_H_
juansal12 0:c3a329a5b05d 12 #define ROSCONTROL_ROSCONTROLLER_H_
juansal12 0:c3a329a5b05d 13
juansal12 0:c3a329a5b05d 14 #include "FishController.h"
juansal12 0:c3a329a5b05d 15 #include "mbed.h"
juansal12 0:c3a329a5b05d 16 #include <ros.h>
juansal12 0:c3a329a5b05d 17 #include <std_msgs/Empty.h>
juansal12 0:c3a329a5b05d 18 #include <fish_msgs/JoystickState.h>
juansal12 0:c3a329a5b05d 19
juansal12 0:c3a329a5b05d 20 // ROS setup
juansal12 0:c3a329a5b05d 21 // TODO replace this with your topic name
juansal12 0:c3a329a5b05d 22 #define rosTopicName "to_serial"
juansal12 0:c3a329a5b05d 23
juansal12 0:c3a329a5b05d 24 // Pins and comm
juansal12 0:c3a329a5b05d 25 #define rosDefaultBaudUSB 115200
juansal12 0:c3a329a5b05d 26 #define rosDefaultBaud 115200
juansal12 0:c3a329a5b05d 27 #define rosDefaultTX p13
juansal12 0:c3a329a5b05d 28 #define rosDefaultRX p14
juansal12 0:c3a329a5b05d 29 // note lowBatteryVoltagePin is defined in FishController
juansal12 0:c3a329a5b05d 30
juansal12 0:c3a329a5b05d 31 //#define printStatusROSController // whether to print what's going on (i.e. when it gets commands, etc.)
juansal12 0:c3a329a5b05d 32 #define debugLEDsROS // LED1: initialized LED2: running LED3: receiving a message LED4: done (others turn off)
juansal12 0:c3a329a5b05d 33 #define runTimeROS 10000 // how long to run for (in milliseconds) if inifiniteLoopROS is undefined
juansal12 0:c3a329a5b05d 34 #define infiniteLoopROS // if defined, will run forever (or until stop() is called from another thread)
juansal12 0:c3a329a5b05d 35
juansal12 0:c3a329a5b05d 36 #define rosControllerControlFish // whether to start fishController to control the servos and motor
juansal12 0:c3a329a5b05d 37
juansal12 0:c3a329a5b05d 38 // Map bytes sent over ROS serial to ranges for each fish property
juansal12 0:c3a329a5b05d 39 #define rosMinPitch fishMinPitch
juansal12 0:c3a329a5b05d 40 #define rosMaxPitch fishMaxPitch
juansal12 0:c3a329a5b05d 41 #define rosMinYaw fishMinYaw
juansal12 0:c3a329a5b05d 42 #define rosMaxYaw fishMaxYaw
juansal12 0:c3a329a5b05d 43 #define rosMinThrust fishMinThrust
juansal12 0:c3a329a5b05d 44 #define rosMaxThrust fishMaxThrust
juansal12 0:c3a329a5b05d 45 #define rosMinFrequency fishMinFrequency
juansal12 0:c3a329a5b05d 46 #define rosMaxFrequency fishMaxFrequency
juansal12 0:c3a329a5b05d 47
juansal12 0:c3a329a5b05d 48 class ROSController
juansal12 0:c3a329a5b05d 49 {
juansal12 0:c3a329a5b05d 50 public:
juansal12 0:c3a329a5b05d 51 // Initialization
juansal12 0:c3a329a5b05d 52 ROSController(Serial* serialObject = NULL, Serial* usbSerialObject = NULL); // if objects are null, ones will be created
juansal12 0:c3a329a5b05d 53 void init(Serial* serialObject = NULL, Serial* usbSerialObject = NULL); // if serial objects are null, ones will be created
juansal12 0:c3a329a5b05d 54 // Execution control
juansal12 0:c3a329a5b05d 55 void run();
juansal12 0:c3a329a5b05d 56 void stop();
juansal12 0:c3a329a5b05d 57 void lowBatteryCallback();
juansal12 0:c3a329a5b05d 58 // ROS
juansal12 0:c3a329a5b05d 59 ros::NodeHandle nodeHandle;
juansal12 0:c3a329a5b05d 60 ros::Subscriber<fish_msgs::JoystickState> subscriber;
juansal12 0:c3a329a5b05d 61 void processROSMessage(const fish_msgs::JoystickState& msg);
juansal12 0:c3a329a5b05d 62 private:
juansal12 0:c3a329a5b05d 63 Timer programTimer;
juansal12 0:c3a329a5b05d 64 bool terminated;
juansal12 0:c3a329a5b05d 65 Serial* usbSerial;
juansal12 0:c3a329a5b05d 66 Serial* serial;
juansal12 0:c3a329a5b05d 67
juansal12 0:c3a329a5b05d 68 // Low battery monitor
juansal12 0:c3a329a5b05d 69 DigitalIn* lowBatteryVoltageInput;
juansal12 0:c3a329a5b05d 70 Ticker lowBatteryTicker;
juansal12 0:c3a329a5b05d 71 bool detectedLowBattery;
juansal12 0:c3a329a5b05d 72
juansal12 0:c3a329a5b05d 73 // Debug LEDs
juansal12 0:c3a329a5b05d 74 #ifdef debugLEDsROS
juansal12 0:c3a329a5b05d 75 DigitalOut* rosLEDs[4];
juansal12 0:c3a329a5b05d 76 #endif
juansal12 0:c3a329a5b05d 77 };
juansal12 0:c3a329a5b05d 78
juansal12 0:c3a329a5b05d 79 // Create a static instance of ROSController to be used by anyone doing ROS control
juansal12 0:c3a329a5b05d 80 extern ROSController rosController;
juansal12 0:c3a329a5b05d 81
juansal12 0:c3a329a5b05d 82 #endif /* ROSCONTROL_ROSCONTROLLER_H_ */
juansal12 0:c3a329a5b05d 83
juansal12 0:c3a329a5b05d 84 #endif // #ifdef rosControl