first commit

src/CMakeLists.txt

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+# toplevel CMakeLists.txt for a catkin workspace
+# catkin/cmake/toplevel.cmake
+
+cmake_minimum_required(VERSION 2.8.3)
+
+set(CATKIN_TOPLEVEL TRUE)
+
+# search for catkin within the workspace
+set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
+execute_process(COMMAND ${_cmd}
+  RESULT_VARIABLE _res
+  OUTPUT_VARIABLE _out
+  ERROR_VARIABLE _err
+  OUTPUT_STRIP_TRAILING_WHITESPACE
+  ERROR_STRIP_TRAILING_WHITESPACE
+)
+if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
+  # searching fot catkin resulted in an error
+  string(REPLACE ";" " " _cmd_str "${_cmd}")
+  message(FATAL_ERROR "Search for 'catkin' in workspace failed (${_cmd_str}): ${_err}")
+endif()
+
+# include catkin from workspace or via find_package()
+if(_res EQUAL 0)
+  set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
+  # include all.cmake without add_subdirectory to let it operate in same scope
+  include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
+  add_subdirectory("${_out}")
+
+else()
+  # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
+  # or CMAKE_PREFIX_PATH from the environment
+  if(NOT DEFINED CMAKE_PREFIX_PATH)
+    if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
+      if(NOT WIN32)
+        string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      else()
+        set(CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
+      endif()
+    endif()
+  endif()
+
+  # list of catkin workspaces
+  set(catkin_search_path "")
+  foreach(path ${CMAKE_PREFIX_PATH})
+    if(EXISTS "${path}/.catkin")
+      list(FIND catkin_search_path ${path} _index)
+      if(_index EQUAL -1)
+        list(APPEND catkin_search_path ${path})
+      endif()
+    endif()
+  endforeach()
+
+  # search for catkin in all workspaces
+  set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
+  find_package(catkin QUIET
+    NO_POLICY_SCOPE
+    PATHS ${catkin_search_path}
+    NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+  unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
+
+  if(NOT catkin_FOUND)
+    message(FATAL_ERROR "find_package(catkin) failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
+  endif()
+endif()
+
+catkin_workspace()

src/scanerapi_sample_ros_gateway_folder/CMakeLists.txt

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+cmake_minimum_required(VERSION 2.8.3)
+project(scanerapi_sample_ros_gateway_folder)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  std_msgs
+)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES scaner_ros_gateway
+#  CATKIN_DEPENDS roscpp std_msgs
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+../../../../../../include
+  ${catkin_INCLUDE_DIRS}
+)
+
+link_directories(
+../../../../../../../bin/Linux/ubuntu/16.04/lib
+../../../../../../../bin/Linux/ubuntu/16.04/lib/external
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/scaner_ros_gateway.cpp
+#   src/${PROJECT_NAME}/scaner_ros_receive.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+add_executable(scanerapi_sample_ros_transmit_node src/scanerapi_sample_ros_transmit.cpp)
+add_executable(scanerapi_sample_ros_receive_node src/scanerapi_sample_ros_receive.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+add_dependencies(scanerapi_sample_ros_transmit_node ${scanerapi_sample_ros_transmit_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(scanerapi_sample_ros_receive_node ${scanerapi_sample_ros_receive_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+target_link_libraries(scanerapi_sample_ros_transmit_node libScanerAPI.so
+   ${catkin_LIBRARIES}
+)
+target_link_libraries(scanerapi_sample_ros_receive_node libScanerAPI.so
+   ${catkin_LIBRARIES}
+)
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_scaner_ros_gateway.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/scanerapi_sample_ros_gateway_folder/package.xml

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+<?xml version="1.0"?>
+<package format="2">
+  <name>scanerapi_sample_ros_gateway_folder</name>
+  <version>0.0.0</version>
+  <description>The scanerapi_sample_ros_gateway_folder package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="root@todo.todo">root</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/scanerapi_sample_ros_gateway_folder</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>scanerapi_sample_ros_gateway</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_export_depend>roscpp</build_export_depend>
+  <build_export_depend>scanerapi_sample_ros_gateway</build_export_depend>
+  <build_export_depend>std_msgs</build_export_depend>
+  <exec_depend>roscpp</exec_depend>
+  <exec_depend>scanerapi_sample_ros_gateway</exec_depend>
+  <exec_depend>std_msgs</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_receive.cpp

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+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "ScanerAPI/scanerAPI_DLL_C.h" //SCANeRTM API: C language Functions
+#include "ScanerAPI/ScanerAPImessagesNetwork.h" //SCANeRTM API: Network utils
+#include "ScanerAPI/ScanerAPImessagesShm.h"
+#include <sstream>
+
+
+
+int main(int argc, char **argv)
+{
+	std_msgs::String msg;
+	std::stringstream ss;
+	float speed=0.0;
+	ros::init(argc, argv, "scanerAPI_sample_ros_receive");
+	ros::NodeHandle p;
+	Process_Init(argc, argv); //SCANeRTM API: Process initialization
+	//Instantiation of  the publisher, it will send data msg to the calculator
+	ros::Publisher speed_pub = p.advertise<std_msgs::String>("speed_sensed", 100000);
+
+	//Definition on a vehicle interface to get any data from the vehicle 
+	DataInterface* vehicle_0_in = Com_declareInputData(NETWORK_IVEHICLE_VEHICLEUPDATE, 0);
+
+	while (ros::ok())
+	{
+		Process_Wait(); //SCANeRTM API: Frequency synchronization
+		Process_Run(); //SCANeRTM API: Run the process
+		if (Process_GetState() == PS_RUNNING) //SCANeRTM API: The simulation is running
+		{
+			Com_updateInputs(UT_AllData); //SCANeRTM API: Update input data (data to read)
+			speed=Com_getFloatData(vehicle_0_in, "speed[0]")*3.6; //SCANeRTM API: Read vehicle 0’s speed on X;//SCANeRTM API: Read vehicle 0’s speed.
+			ss << speed;
+			msg.data = ss.str();
+			ss.str("");
+			//Here we show the value on the terminal to check it first before sending it
+			ROS_INFO("%s", msg.data.c_str());
+			//Here we publish the value to the calculator node
+			speed_pub.publish(msg);
+			ros::spinOnce();
+		}
+	}
+	Process_Close(); //SCANeRTM API: Clean way to stop the SCANeRTM module
+	return 0;
+}

src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_transmit.cpp

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+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include "ScanerAPI/scanerAPI_DLL_C.h" //SCANeRTM API: C language Functions
+#include "ScanerAPI/ScanerAPImessagesNetwork.h" //SCANeRTM API: Network utils
+#include "ScanerAPI/ScanerAPImessagesShm.h"
+#include <sstream>
+
+unsigned int value_received ;
+
+//Test function and acquisition of the value computedby the calculator node
+void chatterCallback(const std_msgs::String::ConstPtr& msg)
+{
+	std::istringstream myStream (msg->data.c_str());
+	myStream >> value_received ;
+	//To demonstrate that the communicaiton works fine, we illustrate it by showing the value received divided by 5. 
+	std::cout << "The value received divided by 5 is : " << value_received/5 << std::endl ;
+}
+
+int main(int argc, char **argv)
+{
+	ros::init(argc, argv, "scanerAPI_sample_ros_transmit");
+	ros::NodeHandle n;
+	Process_Init(argc, argv); //SCANeRTM API: Process initialization
+	ros::Subscriber sub_to_calculator = n.subscribe("response", 1000, chatterCallback);
+	bool isOk1=false;
+
+	DataInterface* vehicle_0_model_corrective_out = Com_declareOutputData(SHM_MODELCABIN_CABTOMODELCORRECTIVE, 0);
+
+	while (ros::ok())
+	{
+		Process_Wait(); //SCANeRTM API: Frequency synchronization	
+		Process_Run(); //SCANeRTM API: Run the process
+		if (Process_GetState() == PS_RUNNING) //SCANeRTM API: The simulation is running
+		{
+
+			//Example of treatment after receiving a value from SCaner (In this big example it is the speed but it would be a sensor value
+			// in real conditions)
+			if(value_received>5){
+				Com_setDoubleData(vehicle_0_model_corrective_out,"AcceleratorAdditive",(double)value_received);
+				Com_setDoubleData(vehicle_0_model_corrective_out,"AcceleratorMultiplicative",0.0);
+				Com_setDoubleData(vehicle_0_model_corrective_out,"BrakeAdditive",50.0);
+				Com_setDoubleData(vehicle_0_model_corrective_out,"BrakeMultiplicative",0.0);
+			}
+			
+			Com_updateOutputs(UT_AllData);
+			//ROS_INFO("%s", msg.data.c_str());
+			ros::spinOnce();
+		}
+	}
+	Process_Close(); //SCANeRTM API: Clean way to stop the SCANeRTM module
+	return 0;
+}
+