scoutos / scout / usb_serial / src / usb_serial.cpp @ 7e9a19f4
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1 | 4069a378 | Alex Zirbel | /**
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2 | * Copyright (c) 2011 Colony Project
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3 | *
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4 | * Permission is hereby granted, free of charge, to any person
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5 | * obtaining a copy of this software and associated documentation
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6 | * files (the "Software"), to deal in the Software without
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7 | * restriction, including without limitation the rights to use,
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8 | * copy, modify, merge, publish, distribute, sublicense, and/or sell
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9 | * copies of the Software, and to permit persons to whom the
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10 | * Software is furnished to do so, subject to the following
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11 | * conditions:
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12 | *
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13 | * The above copyright notice and this permission notice shall be
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14 | * included in all copies or substantial portions of the Software.
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15 | *
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16 | * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
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17 | * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
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18 | * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
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19 | * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
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20 | * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
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21 | * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
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22 | * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
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23 | * OTHER DEALINGS IN THE SOFTWARE.
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24 | */
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25 | |||
26 | /**
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27 | * @file usb_serial.cpp
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28 | * @brief USB_Serial
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29 | *
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30 | * Implementation of functions for USB/Serial use.
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31 | *
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32 | * @author Colony Project, CMU Robotics Club
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33 | * @author Lalitha Ganesan
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34 | **/
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35 | |||
36 | #include <ros/ros.h> |
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37 | |||
38 | #include "usb_serial.h" |
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39 | |||
40 | /**
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41 | * @defgroup usb_serial USB_Serial
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42 | * @brief Functions for using the USB/Serial Ports
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43 | *
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44 | * @{
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45 | **/
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46 | |||
47 | /* USB/Serial state variables */
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48 | int data; /**< The USB serial data received. */ |
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49 | //int num_data_bits; /**< The number of bits that store data. */
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50 | //int num_stop_bits; /**< The number of bits that indicate the end of data. */
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51 | //int parity_type; /**< The parity type of the data being sent over. */
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52 | //int baud_rate; /**< The baud rate of the USB/Serial (bits/sec). */
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53 | |||
54 | /**
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55 | * @brief Sends USB/Serial data.
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56 | *
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57 | * Sets the state vars based on subscription to the serial_data_out topic.
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58 | */
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59 | void send_serial_data(const usb_serial::serial_data::ConstPtr& msg) |
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60 | { |
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61 | data = msg->data; |
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62 | //num_data_bits = msg->num_data_bits;
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63 | //num_stop_bits = msg->num_stop_bits;
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64 | //parity_type = msg->parity_type;
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65 | //baud_rate = msg->baud_rate;
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66 | |||
67 | // Write the data to hardware here
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68 | } |
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69 | |||
70 | /**
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71 | * @brief USB_Serial driver. This is a ROS node that controls USB/Serial
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72 | * port data.
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73 | *
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74 | * This is the main function for the usb_serial node. It is run when the node
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75 | * starts and initializes USB/Serial ports. It then subscribes to the
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76 | * serial_data_out topic, and publishes to the serial_data_in message.
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77 | */
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78 | int main(int argc, char **argv) |
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79 | { |
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80 | /* Initialize in ROS the usb_serial driver node */
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81 | ros::init(argc, argv, "usb_serial_driver");
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82 | |||
83 | ros::NodeHandle n; |
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84 | |||
85 | /* Subscribe to the topic of outgoing serial data (which will be written
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86 | * to the hardware) and if we receive any, send it via serial_data_out. */
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87 | ros::Subscriber sub = n.subscribe("serial_data_out",
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88 | QUEUE_SIZE, send_serial_data); |
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89 | |||
90 | /* Publish ingoing serial data messages back to the library. As part of
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91 | * its main() function, this node reads hardware data and if a new
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92 | * serial message is found, this publisher sends it inbound over ROS */
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93 | ros::Publisher pub = n.advertise<usb_serial::serial_data>("serial_data_in", QUEUE_SIZE);
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94 | |||
95 | // Initialize hardware for USB/Serial ports
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96 | |||
97 | ROS_INFO("Ready to set USB/Serial. [Unimplemented]");
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98 | |||
99 | // Get and publish serial data here.
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100 | |||
101 | ros::spin(); |
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102 | |||
103 | return 0; |
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104 | } |
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105 | |||
106 | /** @} */
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