This program is porting rosserial_arduino for mbed http://www.ros.org/wiki/rosserial_arduino This program supported the revision of 169 of rosserial. This program contains an example.
Dependencies: rosserial_mbed_lib mbed Servo
ros/node_handle.h@1:098e75fd5ad2, 2011-10-16 (annotated)
- Committer:
- nucho
- Date:
- Sun Oct 16 07:17:43 2011 +0000
- Revision:
- 1:098e75fd5ad2
- Parent:
- 0:06fc856e99ca
- Child:
- 3:dff241b66f84
This program supported the revision of 143 of rosserial.
And the bug fix of receive of array data.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
nucho | 0:06fc856e99ca | 1 | /* |
nucho | 0:06fc856e99ca | 2 | * Software License Agreement (BSD License) |
nucho | 0:06fc856e99ca | 3 | * |
nucho | 0:06fc856e99ca | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
nucho | 0:06fc856e99ca | 5 | * All rights reserved. |
nucho | 0:06fc856e99ca | 6 | * |
nucho | 0:06fc856e99ca | 7 | * Redistribution and use in source and binary forms, with or without |
nucho | 0:06fc856e99ca | 8 | * modification, are permitted provided that the following conditions |
nucho | 0:06fc856e99ca | 9 | * are met: |
nucho | 0:06fc856e99ca | 10 | * |
nucho | 0:06fc856e99ca | 11 | * * Redistributions of source code must retain the above copyright |
nucho | 0:06fc856e99ca | 12 | * notice, this list of conditions and the following disclaimer. |
nucho | 0:06fc856e99ca | 13 | * * Redistributions in binary form must reproduce the above |
nucho | 0:06fc856e99ca | 14 | * copyright notice, this list of conditions and the following |
nucho | 0:06fc856e99ca | 15 | * disclaimer in the documentation and/or other materials provided |
nucho | 0:06fc856e99ca | 16 | * with the distribution. |
nucho | 0:06fc856e99ca | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
nucho | 0:06fc856e99ca | 18 | * contributors may be used to endorse or promote prducts derived |
nucho | 0:06fc856e99ca | 19 | * from this software without specific prior written permission. |
nucho | 0:06fc856e99ca | 20 | * |
nucho | 0:06fc856e99ca | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
nucho | 0:06fc856e99ca | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
nucho | 0:06fc856e99ca | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
nucho | 0:06fc856e99ca | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
nucho | 0:06fc856e99ca | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
nucho | 0:06fc856e99ca | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
nucho | 0:06fc856e99ca | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
nucho | 0:06fc856e99ca | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
nucho | 0:06fc856e99ca | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
nucho | 0:06fc856e99ca | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
nucho | 0:06fc856e99ca | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
nucho | 0:06fc856e99ca | 32 | * POSSIBILITY OF SUCH DAMAGE. |
nucho | 0:06fc856e99ca | 33 | */ |
nucho | 0:06fc856e99ca | 34 | |
nucho | 0:06fc856e99ca | 35 | #ifndef ROS_NODE_HANDLE_H_ |
nucho | 0:06fc856e99ca | 36 | #define ROS_NODE_HANDLE_H_ |
nucho | 0:06fc856e99ca | 37 | |
nucho | 0:06fc856e99ca | 38 | #include "../std_msgs/Time.h" |
nucho | 0:06fc856e99ca | 39 | #include "../rosserial_msgs/TopicInfo.h" |
nucho | 0:06fc856e99ca | 40 | #include "../rosserial_msgs/Log.h" |
nucho | 0:06fc856e99ca | 41 | #include "../rosserial_msgs/RequestParam.h" |
nucho | 0:06fc856e99ca | 42 | |
nucho | 0:06fc856e99ca | 43 | #define SYNC_SECONDS 5 |
nucho | 0:06fc856e99ca | 44 | |
nucho | 0:06fc856e99ca | 45 | #define MODE_FIRST_FF 0 |
nucho | 0:06fc856e99ca | 46 | #define MODE_SECOND_FF 1 |
nucho | 0:06fc856e99ca | 47 | #define MODE_TOPIC_L 2 // waiting for topic id |
nucho | 0:06fc856e99ca | 48 | #define MODE_TOPIC_H 3 |
nucho | 0:06fc856e99ca | 49 | #define MODE_SIZE_L 4 // waiting for message size |
nucho | 0:06fc856e99ca | 50 | #define MODE_SIZE_H 5 |
nucho | 0:06fc856e99ca | 51 | #define MODE_MESSAGE 6 |
nucho | 0:06fc856e99ca | 52 | #define MODE_CHECKSUM 7 |
nucho | 0:06fc856e99ca | 53 | |
nucho | 0:06fc856e99ca | 54 | #define MSG_TIMEOUT 20 //20 milliseconds to recieve all of message data |
nucho | 0:06fc856e99ca | 55 | |
nucho | 0:06fc856e99ca | 56 | #include "node_output.h" |
nucho | 0:06fc856e99ca | 57 | |
nucho | 0:06fc856e99ca | 58 | #include "publisher.h" |
nucho | 0:06fc856e99ca | 59 | #include "msg_receiver.h" |
nucho | 0:06fc856e99ca | 60 | #include "subscriber.h" |
nucho | 0:06fc856e99ca | 61 | #include "rosserial_ids.h" |
nucho | 0:06fc856e99ca | 62 | #include "service_server.h" |
nucho | 0:06fc856e99ca | 63 | |
nucho | 0:06fc856e99ca | 64 | namespace ros { |
nucho | 0:06fc856e99ca | 65 | |
nucho | 0:06fc856e99ca | 66 | using rosserial_msgs::TopicInfo; |
nucho | 0:06fc856e99ca | 67 | |
nucho | 0:06fc856e99ca | 68 | /* Node Handle */ |
nucho | 1:098e75fd5ad2 | 69 | template<class Hardware, |
nucho | 1:098e75fd5ad2 | 70 | int MAX_SUBSCRIBERS=25, |
nucho | 1:098e75fd5ad2 | 71 | int MAX_PUBLISHERS=25, |
nucho | 1:098e75fd5ad2 | 72 | int INPUT_SIZE=512, |
nucho | 1:098e75fd5ad2 | 73 | int OUTPUT_SIZE=512> |
nucho | 0:06fc856e99ca | 74 | class NodeHandle_ { |
nucho | 0:06fc856e99ca | 75 | protected: |
nucho | 0:06fc856e99ca | 76 | Hardware hardware_; |
nucho | 0:06fc856e99ca | 77 | NodeOutput<Hardware, OUTPUT_SIZE> no_; |
nucho | 0:06fc856e99ca | 78 | |
nucho | 0:06fc856e99ca | 79 | /* time used for syncing */ |
nucho | 0:06fc856e99ca | 80 | unsigned long rt_time; |
nucho | 0:06fc856e99ca | 81 | |
nucho | 0:06fc856e99ca | 82 | /* used for computing current time */ |
nucho | 0:06fc856e99ca | 83 | unsigned long sec_offset, nsec_offset; |
nucho | 0:06fc856e99ca | 84 | |
nucho | 0:06fc856e99ca | 85 | unsigned char message_in[INPUT_SIZE]; |
nucho | 0:06fc856e99ca | 86 | |
nucho | 0:06fc856e99ca | 87 | Publisher * publishers[MAX_PUBLISHERS]; |
nucho | 0:06fc856e99ca | 88 | MsgReceiver * receivers[MAX_SUBSCRIBERS]; |
nucho | 0:06fc856e99ca | 89 | |
nucho | 1:098e75fd5ad2 | 90 | /* |
nucho | 1:098e75fd5ad2 | 91 | * Setup Functions |
nucho | 0:06fc856e99ca | 92 | */ |
nucho | 0:06fc856e99ca | 93 | public: |
nucho | 1:098e75fd5ad2 | 94 | NodeHandle_() : no_(&hardware_) {} |
nucho | 0:06fc856e99ca | 95 | |
nucho | 0:06fc856e99ca | 96 | Hardware* getHardware() { |
nucho | 0:06fc856e99ca | 97 | return &hardware_; |
nucho | 0:06fc856e99ca | 98 | } |
nucho | 0:06fc856e99ca | 99 | |
nucho | 0:06fc856e99ca | 100 | /* Start serial, initialize buffers */ |
nucho | 0:06fc856e99ca | 101 | void initNode() { |
nucho | 0:06fc856e99ca | 102 | hardware_.init(); |
nucho | 0:06fc856e99ca | 103 | mode_ = 0; |
nucho | 0:06fc856e99ca | 104 | bytes_ = 0; |
nucho | 0:06fc856e99ca | 105 | index_ = 0; |
nucho | 0:06fc856e99ca | 106 | topic_ = 0; |
nucho | 1:098e75fd5ad2 | 107 | checksum_=0; |
nucho | 1:098e75fd5ad2 | 108 | |
nucho | 0:06fc856e99ca | 109 | total_receivers=0; |
nucho | 0:06fc856e99ca | 110 | }; |
nucho | 0:06fc856e99ca | 111 | |
nucho | 0:06fc856e99ca | 112 | protected: |
nucho | 0:06fc856e99ca | 113 | //State machine variables for spinOnce |
nucho | 0:06fc856e99ca | 114 | int mode_; |
nucho | 0:06fc856e99ca | 115 | int bytes_; |
nucho | 0:06fc856e99ca | 116 | int topic_; |
nucho | 0:06fc856e99ca | 117 | int index_; |
nucho | 0:06fc856e99ca | 118 | int checksum_; |
nucho | 0:06fc856e99ca | 119 | |
nucho | 0:06fc856e99ca | 120 | int total_receivers; |
nucho | 0:06fc856e99ca | 121 | |
nucho | 0:06fc856e99ca | 122 | /* used for syncing the time */ |
nucho | 0:06fc856e99ca | 123 | unsigned long last_sync_time; |
nucho | 0:06fc856e99ca | 124 | unsigned long last_sync_receive_time; |
nucho | 0:06fc856e99ca | 125 | unsigned long last_msg_timeout_time; |
nucho | 0:06fc856e99ca | 126 | |
nucho | 0:06fc856e99ca | 127 | bool registerReceiver(MsgReceiver* rcv) { |
nucho | 1:098e75fd5ad2 | 128 | if (total_receivers >= MAX_SUBSCRIBERS) |
nucho | 1:098e75fd5ad2 | 129 | return false; |
nucho | 0:06fc856e99ca | 130 | receivers[total_receivers] = rcv; |
nucho | 0:06fc856e99ca | 131 | rcv->id_ = 100+total_receivers; |
nucho | 0:06fc856e99ca | 132 | total_receivers++; |
nucho | 0:06fc856e99ca | 133 | return true; |
nucho | 0:06fc856e99ca | 134 | } |
nucho | 0:06fc856e99ca | 135 | |
nucho | 0:06fc856e99ca | 136 | public: |
nucho | 0:06fc856e99ca | 137 | /* This function goes in your loop() function, it handles |
nucho | 0:06fc856e99ca | 138 | * serial input and callbacks for subscribers. |
nucho | 0:06fc856e99ca | 139 | */ |
nucho | 0:06fc856e99ca | 140 | |
nucho | 0:06fc856e99ca | 141 | virtual void spinOnce() { |
nucho | 0:06fc856e99ca | 142 | |
nucho | 1:098e75fd5ad2 | 143 | /* restart if timed out */ |
nucho | 0:06fc856e99ca | 144 | unsigned long c_time = hardware_.time(); |
nucho | 1:098e75fd5ad2 | 145 | if ( (c_time - last_sync_receive_time) > (SYNC_SECONDS*2200) ) { |
nucho | 0:06fc856e99ca | 146 | no_.setConfigured(false); |
nucho | 0:06fc856e99ca | 147 | } |
nucho | 0:06fc856e99ca | 148 | |
nucho | 1:098e75fd5ad2 | 149 | /* reset if message has timed out */ |
nucho | 1:098e75fd5ad2 | 150 | if ( mode_ != MODE_FIRST_FF) { |
nucho | 0:06fc856e99ca | 151 | if (c_time > last_msg_timeout_time) { |
nucho | 0:06fc856e99ca | 152 | mode_ = MODE_FIRST_FF; |
nucho | 0:06fc856e99ca | 153 | } |
nucho | 0:06fc856e99ca | 154 | } |
nucho | 0:06fc856e99ca | 155 | |
nucho | 0:06fc856e99ca | 156 | /* while available buffer, read data */ |
nucho | 0:06fc856e99ca | 157 | while ( true ) { |
nucho | 1:098e75fd5ad2 | 158 | int data = hardware_.read(); |
nucho | 1:098e75fd5ad2 | 159 | if ( data < 0 )//no data |
nucho | 0:06fc856e99ca | 160 | break; |
nucho | 0:06fc856e99ca | 161 | checksum_ += data; |
nucho | 0:06fc856e99ca | 162 | if ( mode_ == MODE_MESSAGE ) { /* message data being recieved */ |
nucho | 0:06fc856e99ca | 163 | message_in[index_++] = data; |
nucho | 0:06fc856e99ca | 164 | bytes_--; |
nucho | 0:06fc856e99ca | 165 | if (bytes_ == 0) /* is message complete? if so, checksum */ |
nucho | 0:06fc856e99ca | 166 | mode_ = MODE_CHECKSUM; |
nucho | 0:06fc856e99ca | 167 | } else if ( mode_ == MODE_FIRST_FF ) { |
nucho | 0:06fc856e99ca | 168 | if (data == 0xff) { |
nucho | 0:06fc856e99ca | 169 | mode_++; |
nucho | 0:06fc856e99ca | 170 | last_msg_timeout_time = c_time + MSG_TIMEOUT; |
nucho | 0:06fc856e99ca | 171 | } |
nucho | 0:06fc856e99ca | 172 | } else if ( mode_ == MODE_SECOND_FF ) { |
nucho | 0:06fc856e99ca | 173 | if (data == 0xff) { |
nucho | 0:06fc856e99ca | 174 | mode_++; |
nucho | 0:06fc856e99ca | 175 | } else { |
nucho | 0:06fc856e99ca | 176 | mode_ = MODE_FIRST_FF; |
nucho | 0:06fc856e99ca | 177 | } |
nucho | 0:06fc856e99ca | 178 | } else if ( mode_ == MODE_TOPIC_L ) { /* bottom half of topic id */ |
nucho | 0:06fc856e99ca | 179 | topic_ = data; |
nucho | 0:06fc856e99ca | 180 | mode_++; |
nucho | 0:06fc856e99ca | 181 | checksum_ = data; /* first byte included in checksum */ |
nucho | 0:06fc856e99ca | 182 | } else if ( mode_ == MODE_TOPIC_H ) { /* top half of topic id */ |
nucho | 0:06fc856e99ca | 183 | topic_ += data<<8; |
nucho | 0:06fc856e99ca | 184 | mode_++; |
nucho | 0:06fc856e99ca | 185 | } else if ( mode_ == MODE_SIZE_L ) { /* bottom half of message size */ |
nucho | 0:06fc856e99ca | 186 | bytes_ = data; |
nucho | 0:06fc856e99ca | 187 | index_ = 0; |
nucho | 0:06fc856e99ca | 188 | mode_++; |
nucho | 0:06fc856e99ca | 189 | } else if ( mode_ == MODE_SIZE_H ) { /* top half of message size */ |
nucho | 0:06fc856e99ca | 190 | bytes_ += data<<8; |
nucho | 0:06fc856e99ca | 191 | mode_ = MODE_MESSAGE; |
nucho | 0:06fc856e99ca | 192 | if (bytes_ == 0) |
nucho | 0:06fc856e99ca | 193 | mode_ = MODE_CHECKSUM; |
nucho | 0:06fc856e99ca | 194 | } else if ( mode_ == MODE_CHECKSUM ) { /* do checksum */ |
nucho | 0:06fc856e99ca | 195 | if ( (checksum_%256) == 255) { |
nucho | 0:06fc856e99ca | 196 | if (topic_ == TOPIC_NEGOTIATION) { |
nucho | 0:06fc856e99ca | 197 | requestSyncTime(); |
nucho | 0:06fc856e99ca | 198 | negotiateTopics(); |
nucho | 0:06fc856e99ca | 199 | last_sync_time = c_time; |
nucho | 0:06fc856e99ca | 200 | last_sync_receive_time = c_time; |
nucho | 0:06fc856e99ca | 201 | } else if (topic_ == TopicInfo::ID_TIME) { |
nucho | 0:06fc856e99ca | 202 | syncTime(message_in); |
nucho | 0:06fc856e99ca | 203 | } else if (topic_ == TopicInfo::ID_PARAMETER_REQUEST) { |
nucho | 0:06fc856e99ca | 204 | req_param_resp.deserialize(message_in); |
nucho | 0:06fc856e99ca | 205 | param_recieved= true; |
nucho | 0:06fc856e99ca | 206 | } else { |
nucho | 0:06fc856e99ca | 207 | if (receivers[topic_-100]) |
nucho | 0:06fc856e99ca | 208 | receivers[topic_-100]->receive( message_in ); |
nucho | 0:06fc856e99ca | 209 | } |
nucho | 0:06fc856e99ca | 210 | } |
nucho | 0:06fc856e99ca | 211 | mode_ = MODE_FIRST_FF; |
nucho | 0:06fc856e99ca | 212 | } |
nucho | 0:06fc856e99ca | 213 | } |
nucho | 0:06fc856e99ca | 214 | |
nucho | 0:06fc856e99ca | 215 | /* occasionally sync time */ |
nucho | 0:06fc856e99ca | 216 | if ( no_.configured() && ((c_time-last_sync_time) > (SYNC_SECONDS*500) )) { |
nucho | 0:06fc856e99ca | 217 | requestSyncTime(); |
nucho | 0:06fc856e99ca | 218 | last_sync_time = c_time; |
nucho | 0:06fc856e99ca | 219 | } |
nucho | 0:06fc856e99ca | 220 | } |
nucho | 0:06fc856e99ca | 221 | |
nucho | 0:06fc856e99ca | 222 | /* Are we connected to the PC? */ |
nucho | 0:06fc856e99ca | 223 | bool connected() { |
nucho | 0:06fc856e99ca | 224 | return no_.configured(); |
nucho | 0:06fc856e99ca | 225 | }; |
nucho | 0:06fc856e99ca | 226 | |
nucho | 1:098e75fd5ad2 | 227 | /* |
nucho | 0:06fc856e99ca | 228 | * Time functions |
nucho | 1:098e75fd5ad2 | 229 | */ |
nucho | 0:06fc856e99ca | 230 | |
nucho | 0:06fc856e99ca | 231 | void requestSyncTime() { |
nucho | 0:06fc856e99ca | 232 | std_msgs::Time t; |
nucho | 0:06fc856e99ca | 233 | no_.publish( rosserial_msgs::TopicInfo::ID_TIME, &t); |
nucho | 0:06fc856e99ca | 234 | rt_time = hardware_.time(); |
nucho | 0:06fc856e99ca | 235 | } |
nucho | 0:06fc856e99ca | 236 | |
nucho | 0:06fc856e99ca | 237 | void syncTime( unsigned char * data ) { |
nucho | 0:06fc856e99ca | 238 | std_msgs::Time t; |
nucho | 0:06fc856e99ca | 239 | unsigned long offset = hardware_.time() - rt_time; |
nucho | 0:06fc856e99ca | 240 | |
nucho | 0:06fc856e99ca | 241 | t.deserialize(data); |
nucho | 0:06fc856e99ca | 242 | |
nucho | 0:06fc856e99ca | 243 | t.data.sec += offset/1000; |
nucho | 0:06fc856e99ca | 244 | t.data.nsec += (offset%1000)*1000000UL; |
nucho | 0:06fc856e99ca | 245 | |
nucho | 0:06fc856e99ca | 246 | this->setNow(t.data); |
nucho | 0:06fc856e99ca | 247 | last_sync_receive_time = hardware_.time(); |
nucho | 0:06fc856e99ca | 248 | } |
nucho | 0:06fc856e99ca | 249 | |
nucho | 0:06fc856e99ca | 250 | Time now() { |
nucho | 0:06fc856e99ca | 251 | unsigned long ms = hardware_.time(); |
nucho | 0:06fc856e99ca | 252 | Time current_time; |
nucho | 0:06fc856e99ca | 253 | current_time.sec = ms/1000 + sec_offset; |
nucho | 0:06fc856e99ca | 254 | current_time.nsec = (ms%1000)*1000000UL + nsec_offset; |
nucho | 0:06fc856e99ca | 255 | normalizeSecNSec(current_time.sec, current_time.nsec); |
nucho | 0:06fc856e99ca | 256 | return current_time; |
nucho | 0:06fc856e99ca | 257 | } |
nucho | 0:06fc856e99ca | 258 | |
nucho | 0:06fc856e99ca | 259 | void setNow( Time & new_now ) { |
nucho | 0:06fc856e99ca | 260 | unsigned long ms = hardware_.time(); |
nucho | 0:06fc856e99ca | 261 | sec_offset = new_now.sec - ms/1000 - 1; |
nucho | 0:06fc856e99ca | 262 | nsec_offset = new_now.nsec - (ms%1000)*1000000UL + 1000000000UL; |
nucho | 0:06fc856e99ca | 263 | normalizeSecNSec(sec_offset, nsec_offset); |
nucho | 0:06fc856e99ca | 264 | } |
nucho | 0:06fc856e99ca | 265 | |
nucho | 1:098e75fd5ad2 | 266 | /* |
nucho | 1:098e75fd5ad2 | 267 | * Registration |
nucho | 1:098e75fd5ad2 | 268 | */ |
nucho | 0:06fc856e99ca | 269 | |
nucho | 0:06fc856e99ca | 270 | bool advertise(Publisher & p) { |
nucho | 0:06fc856e99ca | 271 | int i; |
nucho | 0:06fc856e99ca | 272 | for (i = 0; i < MAX_PUBLISHERS; i++) { |
nucho | 0:06fc856e99ca | 273 | if (publishers[i] == 0) { // empty slot |
nucho | 0:06fc856e99ca | 274 | publishers[i] = &p; |
nucho | 0:06fc856e99ca | 275 | p.id_ = i+100+MAX_SUBSCRIBERS; |
nucho | 0:06fc856e99ca | 276 | p.no_ = &this->no_; |
nucho | 0:06fc856e99ca | 277 | return true; |
nucho | 0:06fc856e99ca | 278 | } |
nucho | 0:06fc856e99ca | 279 | } |
nucho | 0:06fc856e99ca | 280 | return false; |
nucho | 0:06fc856e99ca | 281 | } |
nucho | 0:06fc856e99ca | 282 | |
nucho | 0:06fc856e99ca | 283 | /* Register a subscriber with the node */ |
nucho | 0:06fc856e99ca | 284 | template<typename MsgT> |
nucho | 0:06fc856e99ca | 285 | bool subscribe(Subscriber< MsgT> &s) { |
nucho | 0:06fc856e99ca | 286 | return registerReceiver((MsgReceiver*) &s); |
nucho | 0:06fc856e99ca | 287 | } |
nucho | 0:06fc856e99ca | 288 | |
nucho | 0:06fc856e99ca | 289 | template<typename SrvReq, typename SrvResp> |
nucho | 0:06fc856e99ca | 290 | bool advertiseService(ServiceServer<SrvReq,SrvResp>& srv) { |
nucho | 0:06fc856e99ca | 291 | srv.no_ = &no_; |
nucho | 0:06fc856e99ca | 292 | return registerReceiver((MsgReceiver*) &srv); |
nucho | 0:06fc856e99ca | 293 | } |
nucho | 0:06fc856e99ca | 294 | |
nucho | 0:06fc856e99ca | 295 | void negotiateTopics() { |
nucho | 0:06fc856e99ca | 296 | no_.setConfigured(true); |
nucho | 0:06fc856e99ca | 297 | rosserial_msgs::TopicInfo ti; |
nucho | 0:06fc856e99ca | 298 | int i; |
nucho | 0:06fc856e99ca | 299 | for (i = 0; i < MAX_PUBLISHERS; i++) { |
nucho | 0:06fc856e99ca | 300 | if (publishers[i] != 0) { // non-empty slot |
nucho | 0:06fc856e99ca | 301 | ti.topic_id = publishers[i]->id_; |
nucho | 0:06fc856e99ca | 302 | ti.topic_name = (char *) publishers[i]->topic_; |
nucho | 0:06fc856e99ca | 303 | ti.message_type = (char *) publishers[i]->msg_->getType(); |
nucho | 0:06fc856e99ca | 304 | no_.publish( TOPIC_PUBLISHERS, &ti ); |
nucho | 0:06fc856e99ca | 305 | } |
nucho | 0:06fc856e99ca | 306 | } |
nucho | 0:06fc856e99ca | 307 | for (i = 0; i < MAX_SUBSCRIBERS; i++) { |
nucho | 0:06fc856e99ca | 308 | if (receivers[i] != 0) { // non-empty slot |
nucho | 0:06fc856e99ca | 309 | ti.topic_id = receivers[i]->id_; |
nucho | 0:06fc856e99ca | 310 | ti.topic_name = (char *) receivers[i]->topic_; |
nucho | 0:06fc856e99ca | 311 | ti.message_type = (char *) receivers[i]->getMsgType(); |
nucho | 0:06fc856e99ca | 312 | no_.publish( TOPIC_SUBSCRIBERS, &ti ); |
nucho | 0:06fc856e99ca | 313 | } |
nucho | 0:06fc856e99ca | 314 | } |
nucho | 0:06fc856e99ca | 315 | } |
nucho | 0:06fc856e99ca | 316 | |
nucho | 0:06fc856e99ca | 317 | /* |
nucho | 0:06fc856e99ca | 318 | * Logging |
nucho | 0:06fc856e99ca | 319 | */ |
nucho | 1:098e75fd5ad2 | 320 | |
nucho | 0:06fc856e99ca | 321 | private: |
nucho | 0:06fc856e99ca | 322 | void log(char byte, const char * msg) { |
nucho | 0:06fc856e99ca | 323 | rosserial_msgs::Log l; |
nucho | 0:06fc856e99ca | 324 | l.level= byte; |
nucho | 0:06fc856e99ca | 325 | l.msg = (char*)msg; |
nucho | 0:06fc856e99ca | 326 | this->no_.publish(rosserial_msgs::TopicInfo::ID_LOG, &l); |
nucho | 0:06fc856e99ca | 327 | } |
nucho | 1:098e75fd5ad2 | 328 | |
nucho | 0:06fc856e99ca | 329 | public: |
nucho | 0:06fc856e99ca | 330 | void logdebug(const char* msg) { |
nucho | 0:06fc856e99ca | 331 | log(rosserial_msgs::Log::DEBUG, msg); |
nucho | 0:06fc856e99ca | 332 | } |
nucho | 0:06fc856e99ca | 333 | void loginfo(const char * msg) { |
nucho | 0:06fc856e99ca | 334 | log(rosserial_msgs::Log::INFO, msg); |
nucho | 0:06fc856e99ca | 335 | } |
nucho | 0:06fc856e99ca | 336 | void logwarn(const char *msg) { |
nucho | 0:06fc856e99ca | 337 | log(rosserial_msgs::Log::WARN, msg); |
nucho | 0:06fc856e99ca | 338 | } |
nucho | 0:06fc856e99ca | 339 | void logerror(const char*msg) { |
nucho | 0:06fc856e99ca | 340 | log(rosserial_msgs::Log::ERROR, msg); |
nucho | 0:06fc856e99ca | 341 | } |
nucho | 0:06fc856e99ca | 342 | void logfatal(const char*msg) { |
nucho | 0:06fc856e99ca | 343 | log(rosserial_msgs::Log::FATAL, msg); |
nucho | 0:06fc856e99ca | 344 | } |
nucho | 0:06fc856e99ca | 345 | |
nucho | 0:06fc856e99ca | 346 | |
nucho | 1:098e75fd5ad2 | 347 | /* |
nucho | 0:06fc856e99ca | 348 | * Retrieve Parameters |
nucho | 1:098e75fd5ad2 | 349 | */ |
nucho | 1:098e75fd5ad2 | 350 | |
nucho | 0:06fc856e99ca | 351 | private: |
nucho | 0:06fc856e99ca | 352 | bool param_recieved; |
nucho | 0:06fc856e99ca | 353 | rosserial_msgs::RequestParamResponse req_param_resp; |
nucho | 1:098e75fd5ad2 | 354 | |
nucho | 0:06fc856e99ca | 355 | bool requestParam(const char * name, int time_out = 1000) { |
nucho | 0:06fc856e99ca | 356 | param_recieved = false; |
nucho | 0:06fc856e99ca | 357 | rosserial_msgs::RequestParamRequest req; |
nucho | 0:06fc856e99ca | 358 | req.name = (char*)name; |
nucho | 0:06fc856e99ca | 359 | no_.publish(TopicInfo::ID_PARAMETER_REQUEST, &req); |
nucho | 0:06fc856e99ca | 360 | int end_time = hardware_.time(); |
nucho | 0:06fc856e99ca | 361 | while (!param_recieved ) { |
nucho | 0:06fc856e99ca | 362 | spinOnce(); |
nucho | 0:06fc856e99ca | 363 | if (end_time > hardware_.time()) return false; |
nucho | 0:06fc856e99ca | 364 | } |
nucho | 0:06fc856e99ca | 365 | return true; |
nucho | 0:06fc856e99ca | 366 | } |
nucho | 1:098e75fd5ad2 | 367 | |
nucho | 0:06fc856e99ca | 368 | public: |
nucho | 0:06fc856e99ca | 369 | bool getParam(const char* name, int* param, int length =1) { |
nucho | 0:06fc856e99ca | 370 | if (requestParam(name) ) { |
nucho | 0:06fc856e99ca | 371 | if (length == req_param_resp.ints_length) { |
nucho | 0:06fc856e99ca | 372 | //copy it over |
nucho | 1:098e75fd5ad2 | 373 | for (int i=0; i<length; i++) |
nucho | 1:098e75fd5ad2 | 374 | param[i] = req_param_resp.ints[i]; |
nucho | 0:06fc856e99ca | 375 | return true; |
nucho | 0:06fc856e99ca | 376 | } |
nucho | 0:06fc856e99ca | 377 | } |
nucho | 0:06fc856e99ca | 378 | return false; |
nucho | 0:06fc856e99ca | 379 | } |
nucho | 0:06fc856e99ca | 380 | bool getParam(const char* name, float* param, int length=1) { |
nucho | 0:06fc856e99ca | 381 | if (requestParam(name) ) { |
nucho | 0:06fc856e99ca | 382 | if (length == req_param_resp.floats_length) { |
nucho | 0:06fc856e99ca | 383 | //copy it over |
nucho | 1:098e75fd5ad2 | 384 | for (int i=0; i<length; i++) |
nucho | 1:098e75fd5ad2 | 385 | param[i] = req_param_resp.floats[i]; |
nucho | 0:06fc856e99ca | 386 | return true; |
nucho | 0:06fc856e99ca | 387 | } |
nucho | 0:06fc856e99ca | 388 | } |
nucho | 0:06fc856e99ca | 389 | return false; |
nucho | 0:06fc856e99ca | 390 | } |
nucho | 0:06fc856e99ca | 391 | bool getParam(const char* name, char** param, int length=1) { |
nucho | 0:06fc856e99ca | 392 | if (requestParam(name) ) { |
nucho | 0:06fc856e99ca | 393 | if (length == req_param_resp.strings_length) { |
nucho | 0:06fc856e99ca | 394 | //copy it over |
nucho | 1:098e75fd5ad2 | 395 | for (int i=0; i<length; i++) |
nucho | 1:098e75fd5ad2 | 396 | strcpy(param[i],req_param_resp.strings[i]); |
nucho | 0:06fc856e99ca | 397 | return true; |
nucho | 0:06fc856e99ca | 398 | } |
nucho | 0:06fc856e99ca | 399 | } |
nucho | 0:06fc856e99ca | 400 | return false; |
nucho | 0:06fc856e99ca | 401 | } |
nucho | 0:06fc856e99ca | 402 | }; |
nucho | 0:06fc856e99ca | 403 | |
nucho | 0:06fc856e99ca | 404 | } |
nucho | 0:06fc856e99ca | 405 | |
nucho | 1:098e75fd5ad2 | 406 | #endif |