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git commit -m "first commit for v2"

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HiepLM
2025-12-29 16:21:22 +07:00
commit aa3d832d5c
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53
Devices/Packages/sick_line_guidance/turtlebotDemo/gpio_handling/CMakeLists.txt Executable file
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cmake_minimum_required(VERSION 2.8.3)
project(gpio_handling)
find_package(catkin REQUIRED COMPONENTS
message_generation
roscpp
std_msgs
)
# add_message_files(
# FILES
# Message1.msg
# Message2.msg
# )
add_service_files(
FILES
gpio_set_config.srv
gpio_get_config.srv
gpio_set_pin.srv
gpio_get_pin.srv
)
generate_messages(
DEPENDENCIES
std_msgs
custom_messages
)
#catkin_package(
# # INCLUDE_DIRS include
# LIBRARIES gpio_handling
# CATKIN_DEPENDS message_generation message_runtime roscpp std_msgs
#)
include_directories( ${catkin_INCLUDE_DIRS} )
# Service Server
add_executable(gpio_handler src/gpio_handler.cpp)
add_dependencies(gpio_handler ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
target_link_libraries(gpio_handler ${catkin_LIBRARIES} )
install(TARGETS gpio_handler
ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
)
install(DIRECTORY include/${PROJECT_NAME}/
DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
FILES_MATCHING PATTERN "*.h"
PATTERN ".svn" EXCLUDE
)

2
Devices/Packages/sick_line_guidance/turtlebotDemo/gpio_handling/msg/gpio.msg Executable file
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uint8[18] pin_config
bool[18] pin_value

34
Devices/Packages/sick_line_guidance/turtlebotDemo/gpio_handling/package.xml Executable file
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<?xml version="1.0"?>
<package format="2">
<name>gpio_handling</name>
<version>0.0.0</version>
<description>The gpio_handling package</description>
<maintainer email="tsprifl@todo.todo">tsprifl</maintainer>
<license>TODO</license>
<buildtool_depend>catkin</buildtool_depend>
<build_depend>roscpp</build_depend>
<!--
<build_depend>custom_messages</build_depend>
-->
<build_depend>message_generation</build_depend>
<build_depend>std_msgs</build_depend>
<build_export_depend>roscpp</build_export_depend>
<!--
<build_export_depend>custom_messages</build_export_depend>
-->
<build_export_depend>message_generation</build_export_depend>
<build_export_depend>std_msgs</build_export_depend>
<exec_depend>roscpp</exec_depend>
<exec_depend>message_runtime</exec_depend>
<exec_depend>std_msgs</exec_depend>
<export>
</export>
</package>

82
Devices/Packages/sick_line_guidance/turtlebotDemo/gpio_handling/src/gpio_handler.cpp Executable file
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#include "gpio_handler.h"
int main(int argc, char **argv) // node main function
{
ros::init(argc, argv, "gpio_handler"); // initialize node with given name
ROS_INFO("Node %s started", ros::this_node::getName().c_str()); // print info to ros command line
ros::NodeHandle nh; // init node handle
// init servive servers
ros::ServiceServer set_config_server = nh.advertiseService("gpio_set_config", gpio_set_config);
ROS_INFO("gpio set_config_server ready. Call it with: rosservice call %s", set_config_server.getService().c_str());
ros::ServiceServer get_config_server = nh.advertiseService("gpio_get_config", gpio_get_config);
ROS_INFO("gpio get_config_server ready. Call it with: rosservice call %s", get_config_server.getService().c_str());
ros::ServiceServer set_server = nh.advertiseService("gpio_set_pin", gpio_set_pin);
ROS_INFO("gpio set_server ready. Call it with: rosservice call %s", set_server.getService().c_str());
ros::ServiceServer get_server = nh.advertiseService("gpio_get_pin", gpio_get_pin);
ROS_INFO("gpio get_server ready. Call it with: rosservice call %s", get_server.getService().c_str());
// init publisher and subscriber
ros::Publisher set_publisher = nh.advertise<custom_messages::gpio>("/gpio_set", 1, false);
ros::Subscriber get_subscriber = nh.subscribe("/gpio_get", 1, gpioCallback);
/* gpio-message default values */
for (int i = 0; i <= 17; i++)
{
gpio_set_msg.pin_config[i] = 4; //input pulldown (high impedance)
gpio_set_msg.pin_value[i] = 0;
gpio_get_msg.pin_value[i] = 4;
gpio_get_msg.pin_value[i] = 0;
}
ros::Rate loop_rate(200); // publish message rate = 200 Hz
while(ros::ok())
{
ros::spinOnce(); // handle service requests and subscriber callbacks
set_publisher.publish(gpio_set_msg); // publish messages
loop_rate.sleep(); // sleep for loop_rate
}
return 0;
}
void gpioCallback(const custom_messages::gpioConstPtr &msg){
gpio_get_msg = *msg;
}
bool gpio_set_config(gpio_handling::gpio_set_config::Request &req, gpio_handling::gpio_set_config::Response &res){
for(uint8_t i = 0; i < req.pinNumber.size(); i++)
{
gpio_set_msg.pin_config[req.pinNumber[i]] = req.pinMode[i];
}
return true;
}
bool gpio_get_config(gpio_handling::gpio_get_config::Request &req, gpio_handling::gpio_get_config::Response &res){
res.pinMode.resize(req.pinNumber.size());
for(uint8_t i = 0; i < req.pinNumber.size(); i++)
{
res.pinMode[i] = gpio_get_msg.pin_config[req.pinNumber[i]];
}
return true;
}
bool gpio_set_pin(gpio_handling::gpio_set_pin::Request &req, gpio_handling::gpio_set_pin::Response &res){
for(uint8_t i = 0; i < req.pinNumber.size(); i++)
{
gpio_set_msg.pin_value[req.pinNumber[i]] = req.pinValue[i];
}
return true;
}
bool gpio_get_pin(gpio_handling::gpio_get_pin::Request &req, gpio_handling::gpio_get_pin::Response &res){
res.pinValue.resize(req.pinNumber.size());
for(uint8_t i = 0; i < req.pinNumber.size(); i++)
{
res.pinValue[i] = gpio_get_msg.pin_value[req.pinNumber[i]];
}
return true;
}

19
Devices/Packages/sick_line_guidance/turtlebotDemo/gpio_handling/src/gpio_handler.h Executable file
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#include "ros/ros.h"
#include "custom_messages/gpio.h"
#include "gpio_handling/gpio_set_config.h"
#include "gpio_handling/gpio_get_config.h"
#include "gpio_handling/gpio_set_pin.h"
#include "gpio_handling/gpio_get_pin.h"
#include <string>
#include <iostream>
// messages for publish and subscribing for communication to openCR-board
custom_messages::gpio gpio_set_msg;
custom_messages::gpio gpio_get_msg;
// function Declaration
void gpioCallback(const custom_messages::gpioConstPtr &msg);
bool gpio_set_config(gpio_handling::gpio_set_config::Request &req, gpio_handling::gpio_set_config::Response &res);
bool gpio_get_config(gpio_handling::gpio_get_config::Request &req, gpio_handling::gpio_get_config::Response &res);
bool gpio_set_pin(gpio_handling::gpio_set_pin::Request &req, gpio_handling::gpio_set_pin::Response &res);
bool gpio_get_pin(gpio_handling::gpio_get_pin::Request &req, gpio_handling::gpio_get_pin::Response &res);

3
Devices/Packages/sick_line_guidance/turtlebotDemo/gpio_handling/srv/gpio_get_config.srv Executable file
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uint8[] pinNumber
---
uint8[] pinMode

3
Devices/Packages/sick_line_guidance/turtlebotDemo/gpio_handling/srv/gpio_get_pin.srv Executable file
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uint8[] pinNumber
---
bool[] pinValue

3
Devices/Packages/sick_line_guidance/turtlebotDemo/gpio_handling/srv/gpio_set_config.srv Executable file
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uint8[] pinNumber
uint8[] pinMode
---

3
Devices/Packages/sick_line_guidance/turtlebotDemo/gpio_handling/srv/gpio_set_pin.srv Executable file
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uint8[] pinNumber
bool[] pinValue
---