Diff: ros/node_handle.h

Revision:

0:04ac6be8229a

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/node_handle.h	Fri Nov 08 14:38:09 2019 -0300
@@ -0,0 +1,686 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_NODE_HANDLE_H_
+#define ROS_NODE_HANDLE_H_
+
+#include <stdint.h>
+
+#include "std_msgs/Time.h"
+#include "rosserial_msgs/TopicInfo.h"
+#include "rosserial_msgs/Log.h"
+#include "rosserial_msgs/RequestParam.h"
+
+#include "ros/msg.h"
+
+namespace ros
+{
+
+class NodeHandleBase_
+{
+public:
+  virtual int publish(int id, const Msg* msg) = 0;
+  virtual int spinOnce() = 0;
+  virtual bool connected() = 0;
+};
+}
+
+#include "ros/publisher.h"
+#include "ros/subscriber.h"
+#include "ros/service_server.h"
+#include "ros/service_client.h"
+
+namespace ros
+{
+
+const int SPIN_OK = 0;
+const int SPIN_ERR = -1;
+const int SPIN_TIMEOUT = -2;
+
+const uint8_t SYNC_SECONDS  = 5;
+const uint8_t MODE_FIRST_FF = 0;
+/*
+ * The second sync byte is a protocol version. It's value is 0xff for the first
+ * version of the rosserial protocol (used up to hydro), 0xfe for the second version
+ * (introduced in hydro), 0xfd for the next, and so on. Its purpose is to enable
+ * detection of mismatched protocol versions (e.g. hydro rosserial_python with groovy
+ * rosserial_arduino. It must be changed in both this file and in
+ * rosserial_python/src/rosserial_python/SerialClient.py
+ */
+const uint8_t MODE_PROTOCOL_VER   = 1;
+const uint8_t PROTOCOL_VER1       = 0xff; // through groovy
+const uint8_t PROTOCOL_VER2       = 0xfe; // in hydro
+const uint8_t PROTOCOL_VER        = PROTOCOL_VER2;
+const uint8_t MODE_SIZE_L         = 2;
+const uint8_t MODE_SIZE_H         = 3;
+const uint8_t MODE_SIZE_CHECKSUM  = 4;    // checksum for msg size received from size L and H
+const uint8_t MODE_TOPIC_L        = 5;    // waiting for topic id
+const uint8_t MODE_TOPIC_H        = 6;
+const uint8_t MODE_MESSAGE        = 7;
+const uint8_t MODE_MSG_CHECKSUM   = 8;    // checksum for msg and topic id
+
+
+const uint8_t SERIAL_MSG_TIMEOUT  = 20;   // 20 milliseconds to recieve all of message data
+
+using rosserial_msgs::TopicInfo;
+
+/* Node Handle */
+template<class Hardware,
+         int MAX_SUBSCRIBERS = 25,
+         int MAX_PUBLISHERS = 25,
+         int INPUT_SIZE = 512,
+         int OUTPUT_SIZE = 512>
+class NodeHandle_ : public NodeHandleBase_
+{
+protected:
+  Hardware hardware_;
+
+  /* time used for syncing */
+  uint32_t rt_time;
+
+  /* used for computing current time */
+  uint32_t sec_offset, nsec_offset;
+
+  /* Spinonce maximum work timeout */
+  uint32_t spin_timeout_;
+
+  uint8_t message_in[INPUT_SIZE];
+  uint8_t message_out[OUTPUT_SIZE];
+
+  Publisher * publishers[MAX_PUBLISHERS];
+  Subscriber_ * subscribers[MAX_SUBSCRIBERS];
+
+  /*
+   * Setup Functions
+   */
+public:
+  NodeHandle_() : configured_(false)
+  {
+
+    for (unsigned int i = 0; i < MAX_PUBLISHERS; i++)
+      publishers[i] = 0;
+
+    for (unsigned int i = 0; i < MAX_SUBSCRIBERS; i++)
+      subscribers[i] = 0;
+
+    for (unsigned int i = 0; i < INPUT_SIZE; i++)
+      message_in[i] = 0;
+
+    for (unsigned int i = 0; i < OUTPUT_SIZE; i++)
+      message_out[i] = 0;
+
+    req_param_resp.ints_length = 0;
+    req_param_resp.ints = NULL;
+    req_param_resp.floats_length = 0;
+    req_param_resp.floats = NULL;
+    req_param_resp.ints_length = 0;
+    req_param_resp.ints = NULL;
+
+    spin_timeout_ = 0;
+  }
+
+  Hardware* getHardware()
+  {
+    return &hardware_;
+  }
+
+  /* Start serial, initialize buffers */
+  void initNode()
+  {
+    hardware_.init();
+    mode_ = 0;
+    bytes_ = 0;
+    index_ = 0;
+    topic_ = 0;
+  };
+
+  /* Start a named port, which may be network server IP, initialize buffers */
+  void initNode(char *portName)
+  {
+    hardware_.init(portName);
+    mode_ = 0;
+    bytes_ = 0;
+    index_ = 0;
+    topic_ = 0;
+  };
+
+  /**
+   * @brief Sets the maximum time in millisconds that spinOnce() can work.
+   * This will not effect the processing of the buffer, as spinOnce processes
+   * one byte at a time. It simply sets the maximum time that one call can
+   * process for. You can choose to clear the buffer if that is beneficial if
+   * SPIN_TIMEOUT is returned from spinOnce().
+   * @param timeout The timeout in milliseconds that spinOnce will function.
+   */
+  void setSpinTimeout(const uint32_t& timeout)
+  {
+     spin_timeout_ = timeout;
+  }
+
+protected:
+  //State machine variables for spinOnce
+  int mode_;
+  int bytes_;
+  int topic_;
+  int index_;
+  int checksum_;
+
+  bool configured_;
+
+  /* used for syncing the time */
+  uint32_t last_sync_time;
+  uint32_t last_sync_receive_time;
+  uint32_t last_msg_timeout_time;
+
+public:
+  /* This function goes in your loop() function, it handles
+   *  serial input and callbacks for subscribers.
+   */
+
+
+  virtual int spinOnce()
+  {
+    /* restart if timed out */
+    uint32_t c_time = hardware_.time();
+    if ((c_time - last_sync_receive_time) > (SYNC_SECONDS * 2200))
+    {
+      configured_ = false;
+    }
+
+    /* reset if message has timed out */
+    if (mode_ != MODE_FIRST_FF)
+    {
+      if (c_time > last_msg_timeout_time)
+      {
+        mode_ = MODE_FIRST_FF;
+      }
+    }
+
+    /* while available buffer, read data */
+    while (true)
+    {
+      // If a timeout has been specified, check how long spinOnce has been running.
+      if (spin_timeout_ > 0)
+      {
+        // If the maximum processing timeout has been exceeded, exit with error.
+        // The next spinOnce can continue where it left off, or optionally
+        // based on the application in use, the hardware buffer could be flushed
+        // and start fresh.
+        if ((hardware_.time() - c_time) > spin_timeout_)
+        {
+          // Exit the spin, processing timeout exceeded.
+          return SPIN_TIMEOUT;
+        }
+      }
+      int data = hardware_.read();
+      if (data < 0)
+        break;
+      checksum_ += data;
+      if (mode_ == MODE_MESSAGE)          /* message data being recieved */
+      {
+        message_in[index_++] = data;
+        bytes_--;
+        if (bytes_ == 0)                 /* is message complete? if so, checksum */
+          mode_ = MODE_MSG_CHECKSUM;
+      }
+      else if (mode_ == MODE_FIRST_FF)
+      {
+        if (data == 0xff)
+        {
+          mode_++;
+          last_msg_timeout_time = c_time + SERIAL_MSG_TIMEOUT;
+        }
+        else if (hardware_.time() - c_time > (SYNC_SECONDS * 1000))
+        {
+          /* We have been stuck in spinOnce too long, return error */
+          configured_ = false;
+          return SPIN_TIMEOUT;
+        }
+      }
+      else if (mode_ == MODE_PROTOCOL_VER)
+      {
+        if (data == PROTOCOL_VER)
+        {
+          mode_++;
+        }
+        else
+        {
+          mode_ = MODE_FIRST_FF;
+          if (configured_ == false)
+            requestSyncTime();  /* send a msg back showing our protocol version */
+        }
+      }
+      else if (mode_ == MODE_SIZE_L)      /* bottom half of message size */
+      {
+        bytes_ = data;
+        index_ = 0;
+        mode_++;
+        checksum_ = data;               /* first byte for calculating size checksum */
+      }
+      else if (mode_ == MODE_SIZE_H)      /* top half of message size */
+      {
+        bytes_ += data << 8;
+        mode_++;
+      }
+      else if (mode_ == MODE_SIZE_CHECKSUM)
+      {
+        if ((checksum_ % 256) == 255)
+          mode_++;
+        else
+          mode_ = MODE_FIRST_FF;          /* Abandon the frame if the msg len is wrong */
+      }
+      else if (mode_ == MODE_TOPIC_L)     /* bottom half of topic id */
+      {
+        topic_ = data;
+        mode_++;
+        checksum_ = data;               /* first byte included in checksum */
+      }
+      else if (mode_ == MODE_TOPIC_H)     /* top half of topic id */
+      {
+        topic_ += data << 8;
+        mode_ = MODE_MESSAGE;
+        if (bytes_ == 0)
+          mode_ = MODE_MSG_CHECKSUM;
+      }
+      else if (mode_ == MODE_MSG_CHECKSUM)    /* do checksum */
+      {
+        mode_ = MODE_FIRST_FF;
+        if ((checksum_ % 256) == 255)
+        {
+          if (topic_ == TopicInfo::ID_PUBLISHER)
+          {
+            requestSyncTime();
+            negotiateTopics();
+            last_sync_time = c_time;
+            last_sync_receive_time = c_time;
+            return SPIN_ERR;
+          }
+          else if (topic_ == TopicInfo::ID_TIME)
+          {
+            syncTime(message_in);
+          }
+          else if (topic_ == TopicInfo::ID_PARAMETER_REQUEST)
+          {
+            req_param_resp.deserialize(message_in);
+            param_recieved = true;
+          }
+          else if (topic_ == TopicInfo::ID_TX_STOP)
+          {
+            configured_ = false;
+          }
+          else
+          {
+            if (subscribers[topic_ - 100])
+              subscribers[topic_ - 100]->callback(message_in);
+          }
+        }
+      }
+    }
+
+    /* occasionally sync time */
+    if (configured_ && ((c_time - last_sync_time) > (SYNC_SECONDS * 500)))
+    {
+      requestSyncTime();
+      last_sync_time = c_time;
+    }
+
+    return SPIN_OK;
+  }
+
+
+  /* Are we connected to the PC? */
+  virtual bool connected()
+  {
+    return configured_;
+  };
+
+  /********************************************************************
+   * Time functions
+   */
+
+  void requestSyncTime()
+  {
+    std_msgs::Time t;
+    publish(TopicInfo::ID_TIME, &t);
+    rt_time = hardware_.time();
+  }
+
+  void syncTime(uint8_t * data)
+  {
+    std_msgs::Time t;
+    uint32_t offset = hardware_.time() - rt_time;
+
+    t.deserialize(data);
+    t.data.sec += offset / 1000;
+    t.data.nsec += (offset % 1000) * 1000000UL;
+
+    this->setNow(t.data);
+    last_sync_receive_time = hardware_.time();
+  }
+
+  Time now()
+  {
+    uint32_t ms = hardware_.time();
+    Time current_time;
+    current_time.sec = ms / 1000 + sec_offset;
+    current_time.nsec = (ms % 1000) * 1000000UL + nsec_offset;
+    normalizeSecNSec(current_time.sec, current_time.nsec);
+    return current_time;
+  }
+
+  void setNow(Time & new_now)
+  {
+    uint32_t ms = hardware_.time();
+    sec_offset = new_now.sec - ms / 1000 - 1;
+    nsec_offset = new_now.nsec - (ms % 1000) * 1000000UL + 1000000000UL;
+    normalizeSecNSec(sec_offset, nsec_offset);
+  }
+
+  /********************************************************************
+   * Topic Management
+   */
+
+  /* Register a new publisher */
+  bool advertise(Publisher & p)
+  {
+    for (int i = 0; i < MAX_PUBLISHERS; i++)
+    {
+      if (publishers[i] == 0) // empty slot
+      {
+        publishers[i] = &p;
+        p.id_ = i + 100 + MAX_SUBSCRIBERS;
+        p.nh_ = this;
+        return true;
+      }
+    }
+    return false;
+  }
+
+  /* Register a new subscriber */
+  template<typename SubscriberT>
+  bool subscribe(SubscriberT& s)
+  {
+    for (int i = 0; i < MAX_SUBSCRIBERS; i++)
+    {
+      if (subscribers[i] == 0) // empty slot
+      {
+        subscribers[i] = static_cast<Subscriber_*>(&s);
+        s.id_ = i + 100;
+        return true;
+      }
+    }
+    return false;
+  }
+
+  /* Register a new Service Server */
+  template<typename MReq, typename MRes, typename ObjT>
+  bool advertiseService(ServiceServer<MReq, MRes, ObjT>& srv)
+  {
+    bool v = advertise(srv.pub);
+    for (int i = 0; i < MAX_SUBSCRIBERS; i++)
+    {
+      if (subscribers[i] == 0) // empty slot
+      {
+        subscribers[i] = static_cast<Subscriber_*>(&srv);
+        srv.id_ = i + 100;
+        return v;
+      }
+    }
+    return false;
+  }
+
+  /* Register a new Service Client */
+  template<typename MReq, typename MRes>
+  bool serviceClient(ServiceClient<MReq, MRes>& srv)
+  {
+    bool v = advertise(srv.pub);
+    for (int i = 0; i < MAX_SUBSCRIBERS; i++)
+    {
+      if (subscribers[i] == 0) // empty slot
+      {
+        subscribers[i] = static_cast<Subscriber_*>(&srv);
+        srv.id_ = i + 100;
+        return v;
+      }
+    }
+    return false;
+  }
+
+  void negotiateTopics()
+  {
+    rosserial_msgs::TopicInfo ti;
+    int i;
+    for (i = 0; i < MAX_PUBLISHERS; i++)
+    {
+      if (publishers[i] != 0) // non-empty slot
+      {
+        ti.topic_id = publishers[i]->id_;
+        ti.topic_name = (char *) publishers[i]->topic_;
+        ti.message_type = (char *) publishers[i]->msg_->getType();
+        ti.md5sum = (char *) publishers[i]->msg_->getMD5();
+        ti.buffer_size = OUTPUT_SIZE;
+        publish(publishers[i]->getEndpointType(), &ti);
+      }
+    }
+    for (i = 0; i < MAX_SUBSCRIBERS; i++)
+    {
+      if (subscribers[i] != 0) // non-empty slot
+      {
+        ti.topic_id = subscribers[i]->id_;
+        ti.topic_name = (char *) subscribers[i]->topic_;
+        ti.message_type = (char *) subscribers[i]->getMsgType();
+        ti.md5sum = (char *) subscribers[i]->getMsgMD5();
+        ti.buffer_size = INPUT_SIZE;
+        publish(subscribers[i]->getEndpointType(), &ti);
+      }
+    }
+    configured_ = true;
+  }
+
+  virtual int publish(int id, const Msg * msg)
+  {
+    if (id >= 100 && !configured_)
+      return 0;
+
+    /* serialize message */
+    int l = msg->serialize(message_out + 7);
+
+    /* setup the header */
+    message_out[0] = 0xff;
+    message_out[1] = PROTOCOL_VER;
+    message_out[2] = (uint8_t)((uint16_t)l & 255);
+    message_out[3] = (uint8_t)((uint16_t)l >> 8);
+    message_out[4] = 255 - ((message_out[2] + message_out[3]) % 256);
+    message_out[5] = (uint8_t)((int16_t)id & 255);
+    message_out[6] = (uint8_t)((int16_t)id >> 8);
+
+    /* calculate checksum */
+    int chk = 0;
+    for (int i = 5; i < l + 7; i++)
+      chk += message_out[i];
+    l += 7;
+    message_out[l++] = 255 - (chk % 256);
+
+    if (l <= OUTPUT_SIZE)
+    {
+      hardware_.write(message_out, l);
+      return l;
+    }
+    else
+    {
+      logerror("Message from device dropped: message larger than buffer.");
+      return -1;
+    }
+  }
+
+  /********************************************************************
+   * Logging
+   */
+
+protected:
+  void log(char byte, const char * msg)
+  {
+    rosserial_msgs::Log l;
+    l.level = byte;
+    l.msg = (char*)msg;
+    publish(rosserial_msgs::TopicInfo::ID_LOG, &l);
+  }
+
+public:
+  void logdebug(const char* msg)
+  {
+    log(rosserial_msgs::Log::ROSDEBUG, msg);
+  }
+  void loginfo(const char * msg)
+  {
+    log(rosserial_msgs::Log::INFO, msg);
+  }
+  void logwarn(const char *msg)
+  {
+    log(rosserial_msgs::Log::WARN, msg);
+  }
+  void logerror(const char*msg)
+  {
+    log(rosserial_msgs::Log::ERROR, msg);
+  }
+  void logfatal(const char*msg)
+  {
+    log(rosserial_msgs::Log::FATAL, msg);
+  }
+
+  /********************************************************************
+   * Parameters
+   */
+
+protected:
+  bool param_recieved;
+  rosserial_msgs::RequestParamResponse req_param_resp;
+
+  bool requestParam(const char * name, int time_out =  1000)
+  {
+    param_recieved = false;
+    rosserial_msgs::RequestParamRequest req;
+    req.name  = (char*)name;
+    publish(TopicInfo::ID_PARAMETER_REQUEST, &req);
+    uint32_t end_time = hardware_.time() + time_out;
+    while (!param_recieved)
+    {
+      spinOnce();
+      if (hardware_.time() > end_time)
+      {
+        logwarn("Failed to get param: timeout expired");
+        return false;
+      }
+    }
+    return true;
+  }
+
+public:
+  bool getParam(const char* name, int* param, int length = 1, int timeout = 1000)
+  {
+    if (requestParam(name, timeout))
+    {
+      if (length == req_param_resp.ints_length)
+      {
+        //copy it over
+        for (int i = 0; i < length; i++)
+          param[i] = req_param_resp.ints[i];
+        return true;
+      }
+      else
+      {
+        logwarn("Failed to get param: length mismatch");
+      }
+    }
+    return false;
+  }
+  bool getParam(const char* name, float* param, int length = 1, int timeout = 1000)
+  {
+    if (requestParam(name, timeout))
+    {
+      if (length == req_param_resp.floats_length)
+      {
+        //copy it over
+        for (int i = 0; i < length; i++)
+          param[i] = req_param_resp.floats[i];
+        return true;
+      }
+      else
+      {
+        logwarn("Failed to get param: length mismatch");
+      }
+    }
+    return false;
+  }
+  bool getParam(const char* name, char** param, int length = 1, int timeout = 1000)
+  {
+    if (requestParam(name, timeout))
+    {
+      if (length == req_param_resp.strings_length)
+      {
+        //copy it over
+        for (int i = 0; i < length; i++)
+          strcpy(param[i], req_param_resp.strings[i]);
+        return true;
+      }
+      else
+      {
+        logwarn("Failed to get param: length mismatch");
+      }
+    }
+    return false;
+  }
+  bool getParam(const char* name, bool* param, int length = 1, int timeout = 1000)
+  {
+    if (requestParam(name, timeout))
+    {
+      if (length == req_param_resp.ints_length)
+      {
+        //copy it over
+        for (int i = 0; i < length; i++)
+          param[i] = req_param_resp.ints[i];
+        return true;
+      }
+      else
+      {
+        logwarn("Failed to get param: length mismatch");
+      }
+    }
+    return false;
+  }
+};
+
+}
+
+#endif