Revision 14241f84
Added Encoders and USB/Serial ROS nodes. Some of the functions in the
src/<node>.cpp files are not fully functional yet.
scout/encoders/CMakeLists.txt | ||
---|---|---|
1 |
cmake_minimum_required(VERSION 2.4.6) |
|
2 |
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) |
|
3 |
|
|
4 |
# Set the build type. Options are: |
|
5 |
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage |
|
6 |
# Debug : w/ debug symbols, w/o optimization |
|
7 |
# Release : w/o debug symbols, w/ optimization |
|
8 |
# RelWithDebInfo : w/ debug symbols, w/ optimization |
|
9 |
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries |
|
10 |
#set(ROS_BUILD_TYPE RelWithDebInfo) |
|
11 |
|
|
12 |
rosbuild_init() |
|
13 |
|
|
14 |
#set the default path for built executables to the "bin" directory |
|
15 |
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) |
|
16 |
#set the default path for built libraries to the "lib" directory |
|
17 |
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
|
18 |
|
|
19 |
#uncomment if you have defined messages |
|
20 |
rosbuild_genmsg() |
|
21 |
#uncomment if you have defined services |
|
22 |
rosbuild_gensrv() |
|
23 |
|
|
24 |
#common commands for building c++ executables and libraries |
|
25 |
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
|
26 |
#target_link_libraries(${PROJECT_NAME} another_library) |
|
27 |
#rosbuild_add_boost_directories() |
|
28 |
#rosbuild_link_boost(${PROJECT_NAME} thread) |
|
29 |
#rosbuild_add_executable(example examples/example.cpp) |
|
30 |
#target_link_libraries(example ${PROJECT_NAME}) |
|
31 |
|
|
32 |
rosbuild_add_executable(motors_node src/motors.cpp) |
scout/encoders/Makefile | ||
---|---|---|
1 |
include $(shell rospack find mk)/cmake.mk |
scout/encoders/mainpage.dox | ||
---|---|---|
1 |
/** |
|
2 |
\mainpage |
|
3 |
\htmlinclude manifest.html |
|
4 |
|
|
5 |
\b encoders is the ros node that will provide all encoder functionality and control. |
|
6 |
|
|
7 |
<!-- |
|
8 |
Encoders will contain the functions necessary for reading encoder data. |
|
9 |
--> |
|
10 |
|
|
11 |
|
|
12 |
\section codeapi Code API |
|
13 |
|
|
14 |
<!-- |
|
15 |
Provide links to specific auto-generated API documentation within your |
|
16 |
package that is of particular interest to a reader. Doxygen will |
|
17 |
document pretty much every part of your code, so do your best here to |
|
18 |
point the reader to the actual API. |
|
19 |
|
|
20 |
If your codebase is fairly large or has different sets of APIs, you |
|
21 |
should use the doxygen 'group' tag to keep these APIs together. For |
|
22 |
example, the roscpp documentation has 'libros' group. |
|
23 |
--> |
|
24 |
|
|
25 |
|
|
26 |
*/ |
scout/encoders/manifest.xml | ||
---|---|---|
1 |
<package> |
|
2 |
<description brief="encoders"> |
|
3 |
encoders |
|
4 |
Module to provide all encoder control functionality. |
|
5 |
</description> |
|
6 |
<author>Lalitha</author> |
|
7 |
<license>BSD</license> |
|
8 |
<review status="unreviewed" notes=""/> |
|
9 |
<url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url> |
|
10 |
<depend package="roscpp"/> |
|
11 |
<depend package="std_msgs"/> |
|
12 |
|
|
13 |
</package> |
|
14 |
|
|
15 |
|
scout/encoders/msg/encoder_state.msg | ||
---|---|---|
1 |
Header header |
|
2 |
int8 fl_speed |
|
3 |
int8 fr_speed |
|
4 |
int8 bl_speed |
|
5 |
int8 br_speed |
|
6 |
int8 units |
scout/encoders/msg/encoder_state.txt | ||
---|---|---|
1 |
Header header |
|
2 |
int8 fl_speed |
|
3 |
int8 fr_speed |
|
4 |
int8 bl_speed |
|
5 |
int8 br_speed |
|
6 |
int8 units |
scout/encoders/src/encoders.cpp | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2011 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file encoders.cpp |
|
29 |
* @brief Encoders |
|
30 |
* |
|
31 |
* Implementation of functions for encoder use. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
* @author Benjamin Wasserman |
|
35 |
**/ |
|
36 |
|
|
37 |
#include "ros/ros.h" |
|
38 |
#include "encoders.h" |
|
39 |
//#include "libscout/src/constants.h" |
|
40 |
#include <cstdlib> |
|
41 |
|
|
42 |
/** |
|
43 |
* @defgroup encoders Encoders |
|
44 |
* @brief Functions for using the encoders |
|
45 |
* |
|
46 |
**/ |
|
47 |
|
|
48 |
/* Encoder state variables */ |
|
49 |
/** \todo Fix types: static */ |
|
50 |
int encoder_fl; /**< The current state of the front left encoder. */ |
|
51 |
int encoder_fr; /**< The current state of the front right encoder. */ |
|
52 |
int encoder_bl; /**< The current state of the back left encoder. */ |
|
53 |
int encoder_br; /**< The current state of the back right encoder. */ |
|
54 |
|
|
55 |
/*! |
|
56 |
* \brief Encoders driver. This is a ROS node that controls encoders. |
|
57 |
* |
|
58 |
* This is the main function for the encoders node. It is run when the node |
|
59 |
* starts and initializes the encoders. It then publishes to the |
|
60 |
* encoder_state topic and advertises the query_encoders service. |
|
61 |
* |
|
62 |
* \param argc The number of command line arguments (should be 1) |
|
63 |
* \param argv The array of command line arguments |
|
64 |
**/ |
|
65 |
int main(int argc, char **argv){ |
|
66 |
/* Initialize in ROS the encoders driver node */ |
|
67 |
ros::init(argc, argv, "encoders_driver"); |
|
68 |
|
|
69 |
/* Advertise that this serves the query_encoders service */ |
|
70 |
ros::NodeHandle n; |
|
71 |
ros::ServiceServer service = n.advertiseService("query_encoders", encoders_query); |
|
72 |
|
|
73 |
/* Subscribe to the encoder_state topic */ |
|
74 |
ros::Subscriber sub0 = n.subscribe("encoder_state", 4, encoder_state); |
|
75 |
|
|
76 |
/* Initialize hardware for motors */ |
|
77 |
// Hardware init functions here |
|
78 |
|
|
79 |
ROS_INFO("Ready to set encoders."); |
|
80 |
ros::spin(); |
|
81 |
|
|
82 |
return 0; |
|
83 |
} |
|
84 |
|
|
85 |
/*! |
|
86 |
* \brief Gets encoder state |
|
87 |
* |
|
88 |
* Sets the encoder state based on subscription to the encoder_state topic. |
|
89 |
* |
|
90 |
* \param msg The message from the encoder_state topic, containing encoder |
|
91 |
* configuration settings. |
|
92 |
*/ |
|
93 |
void encoder_state(const encoders::encoder_state::ConstPtr& msg){ |
|
94 |
encoder_fl = msg->fl_encoder; |
|
95 |
encoder_fr = msg->fr_encoder; |
|
96 |
encoder_bl = msg->bl_encoder; |
|
97 |
encoder_br = msg->br_encoder; |
|
98 |
} |
|
99 |
|
|
100 |
/*! |
|
101 |
* \brief Outputs current encoder data |
|
102 |
* |
|
103 |
* Serves the service query_encoders by responding to service requests with the |
|
104 |
* encoder values. |
|
105 |
* \param req The request. Should be empty. |
|
106 |
* \param res The response. The fields will be filled with values. |
|
107 |
*/ |
|
108 |
bool encoders_query(encoders::query_encoders::Request &req, |
|
109 |
encoders::query_encoders::Response &res){ |
|
110 |
|
|
111 |
res.fl_encoder = encoder_fl; |
|
112 |
res.fr_encoder = encoder_fr; |
|
113 |
res.bl_encoder = encoder_bl; |
|
114 |
res.br_encoder = encoder_br; |
|
115 |
|
|
116 |
ROS_DEBUG("Encoder values queried"); |
|
117 |
return true; |
|
118 |
} |
|
119 |
|
scout/encoders/src/encoders.h | ||
---|---|---|
1 |
/** |
|
2 |
*Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file encoders.h |
|
29 |
* @brief Contains encoder declarations and functions |
|
30 |
* |
|
31 |
* Contains functions and definitions for the use of |
|
32 |
* encoders. |
|
33 |
* |
|
34 |
* @author Colony Project, CMU Robotics Club |
|
35 |
**/ |
|
36 |
|
|
37 |
/* Authors: Ben Wasserman, Lalitha Ganesan |
|
38 |
*/ |
|
39 |
|
|
40 |
#ifndef _ENCODERS_H_ |
|
41 |
#define _ENCODERS_H_ |
|
42 |
|
|
43 |
#include "encoders/query_encoders.h" |
|
44 |
#include "encoders/encoder_state.h" |
|
45 |
|
|
46 |
|
|
47 |
/** @brief Initialize the encoders module and driver **/ |
|
48 |
int main(int argc, char **argv); |
|
49 |
/** @brief Responds to topic to get encoder state **/ |
|
50 |
void encoder_state(const encoders::encoder_state::ConstPtr& msg); |
|
51 |
/** @brief Responds to service to query encoder data **/ |
|
52 |
bool encoders_query(encoders::query_encoders::Request &req, |
|
53 |
encoders::query_encoders::Response &res); |
|
54 |
|
|
55 |
#endif |
scout/encoders/srv/query_encoders.srv | ||
---|---|---|
1 |
--- |
|
2 |
int8 fl_speed |
|
3 |
int8 fr_speed |
|
4 |
int8 bl_speed |
|
5 |
int8 br_speed |
scout/usb_serial/CMakeLists.txt | ||
---|---|---|
1 |
cmake_minimum_required(VERSION 2.4.6) |
|
2 |
include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) |
|
3 |
|
|
4 |
# Set the build type. Options are: |
|
5 |
# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage |
|
6 |
# Debug : w/ debug symbols, w/o optimization |
|
7 |
# Release : w/o debug symbols, w/ optimization |
|
8 |
# RelWithDebInfo : w/ debug symbols, w/ optimization |
|
9 |
# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries |
|
10 |
#set(ROS_BUILD_TYPE RelWithDebInfo) |
|
11 |
|
|
12 |
rosbuild_init() |
|
13 |
|
|
14 |
#set the default path for built executables to the "bin" directory |
|
15 |
set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) |
|
16 |
#set the default path for built libraries to the "lib" directory |
|
17 |
set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) |
|
18 |
|
|
19 |
#uncomment if you have defined messages |
|
20 |
rosbuild_genmsg() |
|
21 |
#uncomment if you have defined services |
|
22 |
rosbuild_gensrv() |
|
23 |
|
|
24 |
#common commands for building c++ executables and libraries |
|
25 |
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
|
26 |
#target_link_libraries(${PROJECT_NAME} another_library) |
|
27 |
#rosbuild_add_boost_directories() |
|
28 |
#rosbuild_link_boost(${PROJECT_NAME} thread) |
|
29 |
#rosbuild_add_executable(example examples/example.cpp) |
|
30 |
#target_link_libraries(example ${PROJECT_NAME}) |
|
31 |
|
|
32 |
rosbuild_add_executable(motors_node src/motors.cpp) |
scout/usb_serial/Makefile | ||
---|---|---|
1 |
include $(shell rospack find mk)/cmake.mk |
scout/usb_serial/mainpage.dox | ||
---|---|---|
1 |
/** |
|
2 |
\mainpage |
|
3 |
\htmlinclude manifest.html |
|
4 |
|
|
5 |
\b usbserial is the ros node that will provide all IO over USB/Serial functionality and control. |
|
6 |
|
|
7 |
<!-- |
|
8 |
USBserial will contain the functions neceessary for providing USB/Serial IO capability. |
|
9 |
--> |
|
10 |
|
|
11 |
|
|
12 |
\section codeapi Code API |
|
13 |
|
|
14 |
<!-- |
|
15 |
Provide links to specific auto-generated API documentation within your |
|
16 |
package that is of particular interest to a reader. Doxygen will |
|
17 |
document pretty much every part of your code, so do your best here to |
|
18 |
point the reader to the actual API. |
|
19 |
|
|
20 |
If your codebase is fairly large or has different sets of APIs, you |
|
21 |
should use the doxygen 'group' tag to keep these APIs together. For |
|
22 |
example, the roscpp documentation has 'libros' group. |
|
23 |
--> |
|
24 |
|
|
25 |
|
|
26 |
*/ |
scout/usb_serial/manifest.xml | ||
---|---|---|
1 |
<package> |
|
2 |
<description brief="usbserial"> |
|
3 |
usbserial |
|
4 |
Module for USB/Serial that provide all USB/Serial control functionality. |
|
5 |
</description> |
|
6 |
<author>Lalitha</author> |
|
7 |
<license>BSD</license> |
|
8 |
<review status="unreviewed" notes=""/> |
|
9 |
<url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url> |
|
10 |
<depend package="roscpp"/> |
|
11 |
<depend package="std_msgs"/> |
|
12 |
|
|
13 |
</package> |
|
14 |
|
|
15 |
|
scout/usb_serial/msg/receive_serial_data.msg | ||
---|---|---|
1 |
Header header |
|
2 |
int8 fl_speed |
|
3 |
int8 fr_speed |
|
4 |
int8 bl_speed |
|
5 |
int8 br_speed |
|
6 |
int8 units |
scout/usb_serial/msg/send_serial_data.msg | ||
---|---|---|
1 |
Header header |
|
2 |
int8 fl_speed |
|
3 |
int8 fr_speed |
|
4 |
int8 bl_speed |
|
5 |
int8 br_speed |
|
6 |
int8 units |
scout/usb_serial/src/usbserial.cpp | ||
---|---|---|
1 |
/** |
|
2 |
* Copyright (c) 2011 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file usbserial.cpp |
|
29 |
* @brief USBSerial |
|
30 |
* |
|
31 |
* Implementation of functions for USB/Serial use. |
|
32 |
* |
|
33 |
* @author Colony Project, CMU Robotics Club |
|
34 |
* @author Lalitha Ganesan |
|
35 |
**/ |
|
36 |
|
|
37 |
#include "ros/ros.h" |
|
38 |
#include "usbserial.h" |
|
39 |
#include <cstdlib> |
|
40 |
|
|
41 |
/** |
|
42 |
* @defgroup usbserial USBSerial |
|
43 |
* @brief Functions for using the USB/Serial Ports |
|
44 |
* |
|
45 |
**/ |
|
46 |
|
|
47 |
/* USB/Serial state variables */ |
|
48 |
int data; /**< The USB serial data received. */ |
|
49 |
int num_data_bits; /**< The number of bits that store data. */ |
|
50 |
int num_stop_bits; /**< The number of bits that indicate the end of data. */ |
|
51 |
int parity_type; /**< The parity type of the data being sent over. */ |
|
52 |
int baud_rate; /**< The baud rate of the USB/Serial (bits/sec). */ |
|
53 |
|
|
54 |
|
|
55 |
/*! |
|
56 |
* \brief USBSerial driver. This is a ROS node that controls USB/Serial |
|
57 |
* port data. |
|
58 |
* |
|
59 |
* This is the main function for the usbserial node. It is run when the node |
|
60 |
* starts and initializes USB/Serial ports. It then subscribes to the |
|
61 |
* send_serial_data topic, and publishes to the receive_serial_data message. |
|
62 |
* |
|
63 |
* \param argc The number of command line arguments (should be 1) |
|
64 |
* \param argv The array of command line arguments |
|
65 |
**/ |
|
66 |
int main(int argc, char **argv){ |
|
67 |
/* Initialize in ROS the usbserial driver node */ |
|
68 |
ros::init(argc, argv, "usbserial_driver"); |
|
69 |
|
|
70 |
/* Subscribe to the send_serial_data topic */ |
|
71 |
ros::Subscriber sub0 = n.subscribe("send_serial_data", send_serial_data); |
|
72 |
|
|
73 |
/* Publish to the receive_serial_data topic */ |
|
74 |
ros::Publisher pub0 = n.publish("receive_serial_data", receive_serial_data); |
|
75 |
|
|
76 |
/* Initialize hardware for USB/Serial ports */ |
|
77 |
// Hardware init functions here |
|
78 |
|
|
79 |
ROS_INFO("Ready to set USB/Serial."); |
|
80 |
ros::spin(); |
|
81 |
|
|
82 |
return 0; |
|
83 |
} |
|
84 |
|
|
85 |
/*! |
|
86 |
* \brief Sends USB/Serial data. |
|
87 |
* |
|
88 |
* Sets the state vars based on subscription to the send_serial_data topic. |
|
89 |
* |
|
90 |
* \param msg The message from the send_serial_data topic, containing info about |
|
91 |
* how data are being sent. |
|
92 |
*/ |
|
93 |
void send_serial_data(const usbserial::send_serial_data::ConstPtr& msg){ |
|
94 |
|
|
95 |
data = msg->data; |
|
96 |
num_data_bits = msg->num_data_bits; |
|
97 |
num_stop_bits = msg->num_stop_bits; |
|
98 |
parity_type = msg->parity_type; |
|
99 |
baud_rate = msg->baud_rate; |
|
100 |
} |
|
101 |
|
|
102 |
/*! |
|
103 |
* \brief Handles received USB/Serial data. |
|
104 |
* |
|
105 |
* Serves the service receive_serial_data by responding to service requests with the |
|
106 |
* usb/serial data. |
|
107 |
* \param req The request. Should be empty. |
|
108 |
* \param res The response. The fields will be filled with values. |
|
109 |
*/ |
|
110 |
bool receive_serial_data(usbserial::receive_serial_data::Request &req, |
|
111 |
usbserial::receive_serial_data::Response &res){ |
|
112 |
|
|
113 |
res.data = data; |
|
114 |
res.num_data_bits = num_data_bits; |
|
115 |
res.num_stop_bits = num_stop_bits; |
|
116 |
res.parity_type = parity_type; |
|
117 |
res.baud_rate = baud_rate; |
|
118 |
|
|
119 |
return true; |
|
120 |
} |
|
121 |
|
scout/usb_serial/src/usbserial.h | ||
---|---|---|
1 |
/** |
|
2 |
*Copyright (c) 2007 Colony Project |
|
3 |
* |
|
4 |
* Permission is hereby granted, free of charge, to any person |
|
5 |
* obtaining a copy of this software and associated documentation |
|
6 |
* files (the "Software"), to deal in the Software without |
|
7 |
* restriction, including without limitation the rights to use, |
|
8 |
* copy, modify, merge, publish, distribute, sublicense, and/or sell |
|
9 |
* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
11 |
* conditions: |
|
12 |
* |
|
13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
|
15 |
* |
|
16 |
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
|
17 |
* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
|
21 |
* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
|
22 |
* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
|
23 |
* OTHER DEALINGS IN THE SOFTWARE. |
|
24 |
**/ |
|
25 |
|
|
26 |
|
|
27 |
/** |
|
28 |
* @file usbserial.h |
|
29 |
* @brief Contains USB/Serial declarations and functions |
|
30 |
* |
|
31 |
* Contains functions and definitions for the use of |
|
32 |
* USB/Serial. |
|
33 |
* |
|
34 |
* @author Lalitha Ganesan |
|
35 |
**/ |
|
36 |
|
|
37 |
#ifndef _USBSERIAL_H_ |
|
38 |
#define _USBSERIAL_H_ |
|
39 |
|
|
40 |
#include "usbserial/send_serial_data.h" |
|
41 |
#include "usbserial/receive_serial_data.h" |
|
42 |
|
|
43 |
|
|
44 |
/** @brief Initialize the motors module and driver **/ |
|
45 |
int main(int argc, char **argv); |
|
46 |
/** @brief Responds to topic to send serial data **/ |
|
47 |
void send_serial_data(const usbserial::send_serial_data::ConstPtr& msg); |
|
48 |
/** @brief Responds to service to receive serial data **/ |
|
49 |
bool receive_serial_data(usbserial::receive_serial_data::Request &req, |
|
50 |
usbserial::receive_serial_data::Response &res); |
|
51 |
|
|
52 |
#endif |
Also available in: Unified diff