root / scout / usb_serial / src / usbserial.cpp @ c492be62
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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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* files (the "Software"), to deal in the Software without
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* 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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*
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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
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* 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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* @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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