Colony » Colony Scout » Colony Scout OS

/*

 * Software License Agreement (BSD License)

 *

 * Copyright (c) 2011, Willow Garage, Inc.

 * All rights reserved.

 *

 * Redistribution and use in source and binary forms, with or without

 * modification, are permitted provided that the following conditions

 * are met:

 *

 *  * Redistributions of source code must retain the above copyright

 *    notice, this list of conditions and the following disclaimer.

 *  * Redistributions in binary form must reproduce the above

 *    copyright notice, this list of conditions and the following

 *    disclaimer in the documentation and/or other materials provided

 *    with the distribution.

 *  * Neither the name of Willow Garage, Inc. nor the names of its

 *    contributors may be used to endorse or promote prducts derived

 *    from this software without specific prior written permission.

 *

 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS

 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT

 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS

 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,

 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,

 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;

 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT

 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN

 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE

 * POSSIBILITY OF SUCH DAMAGE.

 */

#ifndef ROS_NODE_HANDLE_H_

#define ROS_NODE_HANDLE_H_

#include "std_msgs/Time.h"

#include "rosserial_msgs/TopicInfo.h"

#include "rosserial_msgs/Log.h"

#include "rosserial_msgs/RequestParam.h"

#define SYNC_SECONDS        5

#define MODE_FIRST_FF       0

#define MODE_SECOND_FF      1

#define MODE_TOPIC_L        2   // waiting for topic id

#define MODE_TOPIC_H        3

#define MODE_SIZE_L         4   // waiting for message size

#define MODE_SIZE_H         5

#define MODE_MESSAGE        6

#define MODE_CHECKSUM       7

#define MSG_TIMEOUT 20  //20 milliseconds to recieve all of message data

#include "msg.h"

namespace ros {

  class NodeHandleBase_{

    public:

      virtual int publish(int id, const Msg* msg)=0;

      virtual int spinOnce()=0;

      virtual bool connected()=0;

    };

}

#include "publisher.h"

#include "subscriber.h"

#include "service_server.h"

#include "service_client.h"

namespace ros {

  using rosserial_msgs::TopicInfo;

  /* Node Handle */

  template<class Hardware,

           int MAX_SUBSCRIBERS=25,

           int MAX_PUBLISHERS=25,

           int INPUT_SIZE=512,

           int OUTPUT_SIZE=512>

  class NodeHandle_ : public NodeHandleBase_

  {

    protected:

      Hardware hardware_;

      /* time used for syncing */

      unsigned long rt_time;

      /* used for computing current time */

      unsigned long sec_offset, nsec_offset;

      unsigned char message_in[INPUT_SIZE];

      unsigned char message_out[OUTPUT_SIZE];

      Publisher * publishers[MAX_PUBLISHERS];

      Subscriber_ * subscribers[MAX_SUBSCRIBERS];

      /*

       * Setup Functions

       */

    public:

      NodeHandle_() : configured_(false) {}

      Hardware* getHardware(){

        return &hardware_;

      }

      /* Start serial, initialize buffers */

      void initNode(){

        hardware_.init();

        mode_ = 0;

        bytes_ = 0;

        index_ = 0;

        topic_ = 0;

      };

    protected:

      //State machine variables for spinOnce

      int mode_;

      int bytes_;

      int topic_;

      int index_;

      int checksum_;

      bool configured_;

      /* used for syncing the time */

      unsigned long last_sync_time;

      unsigned long last_sync_receive_time;

      unsigned long last_msg_timeout_time;

    public:

      /* This function goes in your loop() function, it handles

       *  serial input and callbacks for subscribers.

       */

      virtual int spinOnce(){

        /* restart if timed out */

        unsigned long c_time = hardware_.time();

        if( (c_time - last_sync_receive_time) > (SYNC_SECONDS*2200) ){

            configured_ = false;

         }

        /* reset if message has timed out */

        if ( mode_ != MODE_FIRST_FF){ 

          if (c_time > last_msg_timeout_time){

            mode_ = MODE_FIRST_FF;

          }

        }

        /* while available buffer, read data */

        while( true )

        {

          int data = hardware_.read();

          if( data < 0 )

            break;

          checksum_ += data;

          if( mode_ == MODE_MESSAGE ){        /* message data being recieved */

            message_in[index_++] = data;

            bytes_--;

            if(bytes_ == 0)                   /* is message complete? if so, checksum */

              mode_ = MODE_CHECKSUM;

          }else if( mode_ == MODE_FIRST_FF ){

            if(data == 0xff){

              mode_++;

              last_msg_timeout_time = c_time + MSG_TIMEOUT;

            }

          }else if( mode_ == MODE_SECOND_FF ){

            if(data == 0xff){

              mode_++;

            }else{

              mode_ = MODE_FIRST_FF;

            }

          }else if( mode_ == MODE_TOPIC_L ){  /* bottom half of topic id */

            topic_ = data;

            mode_++;

            checksum_ = data;                 /* first byte included in checksum */

          }else if( mode_ == MODE_TOPIC_H ){  /* top half of topic id */

            topic_ += data<<8;

            mode_++;

          }else if( mode_ == MODE_SIZE_L ){   /* bottom half of message size */

            bytes_ = data;

            index_ = 0;

            mode_++;

          }else if( mode_ == MODE_SIZE_H ){   /* top half of message size */

            bytes_ += data<<8;

            mode_ = MODE_MESSAGE;

            if(bytes_ == 0)

              mode_ = MODE_CHECKSUM;

          }else if( mode_ == MODE_CHECKSUM ){ /* do checksum */

            mode_ = MODE_FIRST_FF;

            if( (checksum_%256) == 255){

              if(topic_ == TopicInfo::ID_PUBLISHER){

                requestSyncTime();

                negotiateTopics();

                last_sync_time = c_time;

                last_sync_receive_time = c_time;

                return -1;

              }else if(topic_ == TopicInfo::ID_TIME){

                syncTime(message_in);

              }else if (topic_ == TopicInfo::ID_PARAMETER_REQUEST){

                  req_param_resp.deserialize(message_in);

                  param_recieved= true;

              }else{

                if(subscribers[topic_-100])

                  subscribers[topic_-100]->callback( message_in );

              }

            }

          }

        }

        /* occasionally sync time */

        if( configured_ && ((c_time-last_sync_time) > (SYNC_SECONDS*500) )){

          requestSyncTime();

          last_sync_time = c_time;

        }

        return 0;

      }

      /* Are we connected to the PC? */

      virtual bool connected() {

        return configured_;

      };

      /********************************************************************

       * Time functions

       */

      void requestSyncTime()

      {

        std_msgs::Time t;

        publish(TopicInfo::ID_TIME, &t);

        rt_time = hardware_.time();

      }

      void syncTime( unsigned char * data )

      {

        std_msgs::Time t;

        unsigned long offset = hardware_.time() - rt_time;

        t.deserialize(data);

        t.data.sec += offset/1000;

        t.data.nsec += (offset%1000)*1000000UL;

        this->setNow(t.data);

        last_sync_receive_time = hardware_.time();

      }

      Time now(){

        unsigned long ms = hardware_.time();

        Time current_time;

        current_time.sec = ms/1000 + sec_offset;

        current_time.nsec = (ms%1000)*1000000UL + nsec_offset;

        normalizeSecNSec(current_time.sec, current_time.nsec);

        return current_time;

      }

      void setNow( Time & new_now )

      {

        unsigned long ms = hardware_.time();

        sec_offset = new_now.sec - ms/1000 - 1;

        nsec_offset = new_now.nsec - (ms%1000)*1000000UL + 1000000000UL;

        normalizeSecNSec(sec_offset, nsec_offset);

      }

      /********************************************************************

       * Topic Management 

       */

      /* Register a new publisher */    

      bool advertise(Publisher & p)

      {

        for(int i = 0; i < MAX_PUBLISHERS; i++){

          if(publishers[i] == 0){ // empty slot

            publishers[i] = &p;

            p.id_ = i+100+MAX_SUBSCRIBERS;

            p.nh_ = this;

            return true;

          }

        }

        return false;

      }

      /* Register a new subscriber */

      template<typename MsgT>

      bool subscribe(Subscriber< MsgT> & s){

        for(int i = 0; i < MAX_SUBSCRIBERS; i++){

          if(subscribers[i] == 0){ // empty slot

            subscribers[i] = (Subscriber_*) &s;

            s.id_ = i+100;

            return true;

          }

        }

        return false;

      }

      /* Register a new Service Server */

      template<typename MReq, typename MRes>

      bool advertiseService(ServiceServer<MReq,MRes>& srv){

        bool v = advertise(srv.pub);

        for(int i = 0; i < MAX_SUBSCRIBERS; i++){

          if(subscribers[i] == 0){ // empty slot

            subscribers[i] = (Subscriber_*) &srv;

            srv.id_ = i+100;

            return v;

          }

        }

        return false;

      }

      /* Register a new Service Client */

      template<typename MReq, typename MRes>

      bool serviceClient(ServiceClient<MReq, MRes>& srv){

        bool v = advertise(srv.pub);

        for(int i = 0; i < MAX_SUBSCRIBERS; i++){

          if(subscribers[i] == 0){ // empty slot

            subscribers[i] = (Subscriber_*) &srv;

            srv.id_ = i+100;

            return v;

          }

        }

        return false;

      }

      void negotiateTopics()

      {

        configured_ = true;

        rosserial_msgs::TopicInfo ti;

        int i;

        for(i = 0; i < MAX_PUBLISHERS; i++)

        {

          if(publishers[i] != 0) // non-empty slot

          {

            ti.topic_id = publishers[i]->id_;

            ti.topic_name = (char *) publishers[i]->topic_;

            ti.message_type = (char *) publishers[i]->msg_->getType();

            ti.md5sum = (char *) publishers[i]->msg_->getMD5();

            ti.buffer_size = OUTPUT_SIZE;

            publish( publishers[i]->getEndpointType(), &ti );

          }

        }

        for(i = 0; i < MAX_SUBSCRIBERS; i++)

        {

          if(subscribers[i] != 0) // non-empty slot

          {

            ti.topic_id = subscribers[i]->id_;

            ti.topic_name = (char *) subscribers[i]->topic_;

            ti.message_type = (char *) subscribers[i]->getMsgType();

            ti.md5sum = (char *) subscribers[i]->getMsgMD5();

            ti.buffer_size = INPUT_SIZE;

            publish( subscribers[i]->getEndpointType(), &ti );

          }

        }

      }

      virtual int publish(int id, const Msg * msg)

      {

        if(!configured_) return 0;

        /* serialize message */

        int l = msg->serialize(message_out+6);

        /* setup the header */

        message_out[0] = 0xff;

        message_out[1] = 0xff;

        message_out[2] = (unsigned char) id&255;

        message_out[3] = (unsigned char) id>>8;

        message_out[4] = (unsigned char) l&255;

        message_out[5] = ((unsigned char) l>>8);

        /* calculate checksum */

        int chk = 0;

        for(int i =2; i<l+6; i++)

          chk += message_out[i];

        l += 6;

        message_out[l++] = 255 - (chk%256);

        if( l <= OUTPUT_SIZE ){

          hardware_.write(message_out, l);

          return l;

        }else{

          logerror("Message from device dropped: message larger than buffer.");

          return 0;

        }

      }

      /********************************************************************

       * Logging

       */

    private:

      void log(char byte, const char * msg){

        rosserial_msgs::Log l;

        l.level= byte;

        l.msg = (char*)msg;

        publish(rosserial_msgs::TopicInfo::ID_LOG, &l);

      }

    public:

      void logdebug(const char* msg){

        log(rosserial_msgs::Log::DEBUG, msg);

      }

      void loginfo(const char * msg){

        log(rosserial_msgs::Log::INFO, msg);

      }

      void logwarn(const char *msg){

        log(rosserial_msgs::Log::WARN, msg);

      }

      void logerror(const char*msg){

        log(rosserial_msgs::Log::ERROR, msg);

      }

      void logfatal(const char*msg){

        log(rosserial_msgs::Log::FATAL, msg);

      }

      /********************************************************************

       * Parameters

       */

    private:

      bool param_recieved;

      rosserial_msgs::RequestParamResponse req_param_resp;

      bool requestParam(const char * name, int time_out =  1000){

        param_recieved = false;

        rosserial_msgs::RequestParamRequest req;

        req.name  = (char*)name;

        publish(TopicInfo::ID_PARAMETER_REQUEST, &req);

        int end_time = hardware_.time();

        while(!param_recieved ){

          spinOnce();

          if (end_time > hardware_.time()) return false;

        }

        return true;

      }

    public:

      bool getParam(const char* name, int* param, int length =1){

        if (requestParam(name) ){

          if (length == req_param_resp.ints_length){

            //copy it over

            for(int i=0; i<length; i++)

              param[i] = req_param_resp.ints[i];

            return true;

          }

        }

        return false;

      }

      bool getParam(const char* name, float* param, int length=1){

        if (requestParam(name) ){

          if (length == req_param_resp.floats_length){

            //copy it over

            for(int i=0; i<length; i++) 

              param[i] = req_param_resp.floats[i];

            return true;

          }

        }

        return false;

      }

      bool getParam(const char* name, char** param, int length=1){

        if (requestParam(name) ){

          if (length == req_param_resp.strings_length){

            //copy it over

            for(int i=0; i<length; i++)

              strcpy(param[i],req_param_resp.strings[i]);

            return true;

          }

        }

        return false;

      }  

  };

}

#endif