Revision 4069a378
Fixed the usb_serial node so it now compiles.
Moved the previously split send_serial_data and receive_serial_data into a single message. Renamed files to use usb_serial instead of usbserial. Updated CMakeLists to actually refer to usb_serial and not motors. Fixed bugs.
scout/usb_serial/CMakeLists.txt | ||
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19 | 19 |
#uncomment if you have defined messages |
20 | 20 |
rosbuild_genmsg() |
21 | 21 |
#uncomment if you have defined services |
22 |
rosbuild_gensrv() |
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#rosbuild_gensrv()
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23 | 23 |
|
24 | 24 |
#common commands for building c++ executables and libraries |
25 | 25 |
#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) |
... | ... | |
29 | 29 |
#rosbuild_add_executable(example examples/example.cpp) |
30 | 30 |
#target_link_libraries(example ${PROJECT_NAME}) |
31 | 31 |
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rosbuild_add_executable(motors_node src/motors.cpp) |
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rosbuild_add_executable(usb_serial_node src/usb_serial.cpp) |
scout/usb_serial/msg/receive_serial_data.msg | ||
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1 |
Header header |
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2 |
int8 fl_speed |
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int8 fr_speed |
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int8 bl_speed |
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int8 br_speed |
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int8 units |
scout/usb_serial/msg/send_serial_data.msg | ||
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1 |
Header header |
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2 |
int8 fl_speed |
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int8 fr_speed |
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int8 bl_speed |
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int8 br_speed |
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int8 units |
scout/usb_serial/msg/serial_data.msg | ||
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1 |
Header header |
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2 |
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# Change later based on the kind of data we actually have |
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int32 data |
scout/usb_serial/src/usb_serial.cpp | ||
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1 |
/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* obtaining a copy of this software and associated documentation |
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* 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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* copy, modify, merge, publish, distribute, sublicense, and/or sell |
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* copies of the Software, and to permit persons to whom the |
|
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* Software is furnished to do so, subject to the following |
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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15 |
* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
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* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
|
19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
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* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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|
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/** |
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* @file usb_serial.cpp |
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* @brief USB_Serial |
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* |
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* Implementation of functions for USB/Serial use. |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Lalitha Ganesan |
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**/ |
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#include <ros/ros.h> |
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#include "usb_serial.h" |
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/** |
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* @defgroup usb_serial USB_Serial |
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* @brief Functions for using the USB/Serial Ports |
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* |
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* @{ |
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**/ |
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|
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/* USB/Serial state variables */ |
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int data; /**< The USB serial data received. */ |
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//int num_data_bits; /**< The number of bits that store data. */ |
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//int num_stop_bits; /**< The number of bits that indicate the end of data. */ |
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//int parity_type; /**< The parity type of the data being sent over. */ |
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//int baud_rate; /**< The baud rate of the USB/Serial (bits/sec). */ |
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|
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/** |
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* @brief Sends USB/Serial data. |
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* |
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* Sets the state vars based on subscription to the serial_data_out topic. |
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*/ |
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void send_serial_data(const usb_serial::serial_data::ConstPtr& msg) |
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{ |
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data = msg->data; |
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//num_data_bits = msg->num_data_bits; |
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//num_stop_bits = msg->num_stop_bits; |
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//parity_type = msg->parity_type; |
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//baud_rate = msg->baud_rate; |
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// Write the data to hardware here |
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} |
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/** |
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* @brief USB_Serial driver. This is a ROS node that controls USB/Serial |
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* port data. |
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* |
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* This is the main function for the usb_serial node. It is run when the node |
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* starts and initializes USB/Serial ports. It then subscribes to the |
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* serial_data_out topic, and publishes to the serial_data_in message. |
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*/ |
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int main(int argc, char **argv) |
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{ |
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/* Initialize in ROS the usb_serial driver node */ |
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ros::init(argc, argv, "usb_serial_driver"); |
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ros::NodeHandle n; |
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/* Subscribe to the topic of outgoing serial data (which will be written |
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* to the hardware) and if we receive any, send it via serial_data_out. */ |
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ros::Subscriber sub = n.subscribe("serial_data_out", |
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QUEUE_SIZE, send_serial_data); |
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/* Publish ingoing serial data messages back to the library. As part of |
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* its main() function, this node reads hardware data and if a new |
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* serial message is found, this publisher sends it inbound over ROS */ |
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ros::Publisher pub = n.advertise<usb_serial::serial_data>("serial_data_in", QUEUE_SIZE); |
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// Initialize hardware for USB/Serial ports |
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ROS_INFO("Ready to set USB/Serial. [Unimplemented]"); |
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// Get and publish serial data here. |
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ros::spin(); |
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return 0; |
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} |
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/** @} */ |
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scout/usb_serial/src/usb_serial.h | ||
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/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* Permission is hereby granted, free of charge, to any person |
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* 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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* copies of the Software, and to permit persons to whom the |
|
10 |
* Software is furnished to do so, subject to the following |
|
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* conditions: |
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* |
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* The above copyright notice and this permission notice shall be |
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* included in all copies or substantial portions of the Software. |
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* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES |
|
18 |
* OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND |
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19 |
* NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT |
|
20 |
* HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, |
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* WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING |
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* FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR |
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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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/** |
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* @file usb_serial.h |
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* @brief Contains USB/Serial declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* USB/Serial. |
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* |
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* @author Lalitha Ganesan |
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* @author Alex Zirbel |
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**/ |
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#ifndef _USB_SERIAL_H_ |
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#define _USB_SERIAL_H_ |
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#define QUEUE_SIZE 10 |
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#include "usb_serial/serial_data.h" |
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/** @brief Initialize the motors module and driver **/ |
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int main(int argc, char **argv); |
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/** @brief Responds to topic to send serial data **/ |
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void send_serial_data(const usb_serial::serial_data::ConstPtr& msg); |
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#endif |
scout/usb_serial/src/usbserial.cpp | ||
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1 |
/** |
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* Copyright (c) 2011 Colony Project |
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* |
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* 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, |
|
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: |
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* |
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13 |
* The above copyright notice and this permission notice shall be |
|
14 |
* included in all copies or substantial portions of the Software. |
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15 |
* |
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, |
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* 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 |
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* OTHER DEALINGS IN THE SOFTWARE. |
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*/ |
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/** |
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* @file usbserial.cpp |
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* @brief USBSerial |
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* |
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* Implementation of functions for USB/Serial use. |
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* |
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* @author Colony Project, CMU Robotics Club |
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* @author Lalitha Ganesan |
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**/ |
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#include "ros/ros.h" |
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#include "usbserial.h" |
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#include <cstdlib> |
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/** |
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* @defgroup usbserial USBSerial |
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* @brief Functions for using the USB/Serial Ports |
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* |
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**/ |
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/* USB/Serial state variables */ |
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int data; /**< The USB serial data received. */ |
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int num_data_bits; /**< The number of bits that store data. */ |
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int num_stop_bits; /**< The number of bits that indicate the end of data. */ |
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int parity_type; /**< The parity type of the data being sent over. */ |
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int baud_rate; /**< The baud rate of the USB/Serial (bits/sec). */ |
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/*! |
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* \brief USBSerial driver. This is a ROS node that controls USB/Serial |
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* port data. |
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* |
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* This is the main function for the usbserial node. It is run when the node |
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* starts and initializes USB/Serial ports. It then subscribes to the |
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* send_serial_data topic, and publishes to the receive_serial_data message. |
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* |
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* \param argc The number of command line arguments (should be 1) |
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* \param argv The array of command line arguments |
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**/ |
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int main(int argc, char **argv){ |
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/* Initialize in ROS the usbserial driver node */ |
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ros::init(argc, argv, "usbserial_driver"); |
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/* Subscribe to the send_serial_data topic */ |
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ros::Subscriber sub0 = n.subscribe("send_serial_data", send_serial_data); |
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/* Publish to the receive_serial_data topic */ |
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ros::Publisher pub0 = n.publish("receive_serial_data", receive_serial_data); |
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/* Initialize hardware for USB/Serial ports */ |
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// Hardware init functions here |
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ROS_INFO("Ready to set USB/Serial."); |
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ros::spin(); |
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return 0; |
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} |
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/*! |
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* \brief Sends USB/Serial data. |
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* |
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* Sets the state vars based on subscription to the send_serial_data topic. |
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* |
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* \param msg The message from the send_serial_data topic, containing info about |
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* how data are being sent. |
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*/ |
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void send_serial_data(const usbserial::send_serial_data::ConstPtr& msg){ |
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data = msg->data; |
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num_data_bits = msg->num_data_bits; |
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num_stop_bits = msg->num_stop_bits; |
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parity_type = msg->parity_type; |
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baud_rate = msg->baud_rate; |
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} |
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/*! |
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* \brief Handles received USB/Serial data. |
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* |
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* Serves the service receive_serial_data by responding to service requests with the |
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* usb/serial data. |
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* \param req The request. Should be empty. |
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* \param res The response. The fields will be filled with values. |
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*/ |
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bool receive_serial_data(usbserial::receive_serial_data::Request &req, |
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usbserial::receive_serial_data::Response &res){ |
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res.data = data; |
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res.num_data_bits = num_data_bits; |
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res.num_stop_bits = num_stop_bits; |
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res.parity_type = parity_type; |
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res.baud_rate = baud_rate; |
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return true; |
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} |
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|
scout/usb_serial/src/usbserial.h | ||
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/** |
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* Copyright (c) 2011 Colony Project |
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* |
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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 |
*/ |
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|
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/** |
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* @file usbserial.h |
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* @brief Contains USB/Serial declarations and functions |
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* |
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* Contains functions and definitions for the use of |
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* USB/Serial. |
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* |
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* @author Lalitha Ganesan |
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**/ |
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|
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#ifndef _USBSERIAL_H_ |
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#define _USBSERIAL_H_ |
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#include "usbserial/send_serial_data.h" |
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#include "usbserial/receive_serial_data.h" |
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|
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|
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/** @brief Initialize the motors module and driver **/ |
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int main(int argc, char **argv); |
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/** @brief Responds to topic to send serial data **/ |
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void send_serial_data(const usbserial::send_serial_data::ConstPtr& msg); |
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/** @brief Responds to service to receive serial data **/ |
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bool receive_serial_data(usbserial::receive_serial_data::Request &req, |
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usbserial::receive_serial_data::Response &res); |
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#endif |
Also available in: Unified diff