Diff: main.cpp

Revision:

0:8630970819e4

Child:

1:c01b621ed377

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sat Oct 09 05:40:59 2021 +0000
@@ -0,0 +1,56 @@
+/* mros2 on Mbed Example
+ * Copyright (c) 2021 smorita_emb
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+#include "mbed.h"
+#include "mbed-trace/mbed_trace.h"
+#include "mros2.h"
+#include "std_msgs/msg/string.hpp"
+#include "EthernetInterface.h"
+
+mros2::Subscriber sub;
+mros2::Publisher pub;
+
+void userCallback(std_msgs::msg::String *msg)
+{
+  printf("subscribed msg: '%s'\r\n", msg->data.c_str());
+  printf("publishing msg: '%s'\r\n", msg->data.c_str());
+  pub.publish(*msg);
+}
+
+DigitalOut led1(LED1);
+#define IP_ADDRESS ("192.168.11.2") /* IP address, if you want to change*/
+#define SUBNET_MASK ("255.255.255.0") /* Subnet mask */
+#define DEFAULT_GATEWAY ("192.168.11.1") /* Default gateway */
+int main() {
+    EthernetInterface network;
+    network.set_dhcp(false);
+    network.set_network(IP_ADDRESS, SUBNET_MASK, DEFAULT_GATEWAY);
+    nsapi_size_or_error_t result = network.connect();
+
+    printf("mbed mros2 start!\r\n");
+    mros2::init(0, NULL);
+    printf("mROS 2 initialization is completed\r\n");
+
+    mros2::Node node = mros2::Node::create_node("mros2_node");
+    pub = node.create_publisher<std_msgs::msg::String>("to_linux", 10);
+    sub = node.create_subscription("to_stm", 10, userCallback);
+    std_msgs::msg::String msg;
+
+    printf("ready to pub/sub message\r\n");
+    mros2::spin();
+
+    return 0;
+}