From 70884fbf0be3d6dc39ab5d2bcbf55ec0741254eb Mon Sep 17 00:00:00 2001 From: vitrat Date: Sun, 17 May 2020 21:19:56 +0200 Subject: [PATCH] first commit --- src/CMakeLists.txt | 67 ++++++ .../CMakeLists.txt | 217 ++++++++++++++++++ .../package.xml | 68 ++++++ .../src/scanerapi_sample_ros_receive.cpp | 44 ++++ .../src/scanerapi_sample_ros_transmit.cpp | 53 +++++ 5 files changed, 449 insertions(+) create mode 100644 src/CMakeLists.txt create mode 100644 src/scanerapi_sample_ros_gateway_folder/CMakeLists.txt create mode 100644 src/scanerapi_sample_ros_gateway_folder/package.xml create mode 100644 src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_receive.cpp create mode 100644 src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_transmit.cpp diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt new file mode 100644 index 0000000..b1cf04c --- /dev/null +++ b/src/CMakeLists.txt @@ -0,0 +1,67 @@ +# 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() diff --git a/src/scanerapi_sample_ros_gateway_folder/CMakeLists.txt b/src/scanerapi_sample_ros_gateway_folder/CMakeLists.txt new file mode 100644 index 0000000..be7a8db --- /dev/null +++ b/src/scanerapi_sample_ros_gateway_folder/CMakeLists.txt @@ -0,0 +1,217 @@ +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) diff --git a/src/scanerapi_sample_ros_gateway_folder/package.xml b/src/scanerapi_sample_ros_gateway_folder/package.xml new file mode 100644 index 0000000..8d5ca48 --- /dev/null +++ b/src/scanerapi_sample_ros_gateway_folder/package.xml @@ -0,0 +1,68 @@ + + + scanerapi_sample_ros_gateway_folder + 0.0.0 + The scanerapi_sample_ros_gateway_folder package + + + + + root + + + + + + TODO + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + catkin + roscpp + scanerapi_sample_ros_gateway + std_msgs + roscpp + scanerapi_sample_ros_gateway + std_msgs + roscpp + scanerapi_sample_ros_gateway + std_msgs + + + + + + + + diff --git a/src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_receive.cpp b/src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_receive.cpp new file mode 100644 index 0000000..781da47 --- /dev/null +++ b/src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_receive.cpp @@ -0,0 +1,44 @@ +#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 + + + +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("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; +} diff --git a/src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_transmit.cpp b/src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_transmit.cpp new file mode 100644 index 0000000..1908394 --- /dev/null +++ b/src/scanerapi_sample_ros_gateway_folder/src/scanerapi_sample_ros_transmit.cpp @@ -0,0 +1,53 @@ +#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 + +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; +} +