mirror of
https://github.com/micro-ROS/micro-ROS-Agent.git
synced 2026-09-06 09:55:15 +02:00
Feature/u ros agent node
This commit is contained in:
Javier JM. Moreno
committed by
Borja Outerelo
Borja Outerelo
parent
d66fa96f30
commit
b483e7e007
@@ -20,6 +20,18 @@ cmake_minimum_required(VERSION 3.5)
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project(uros_agent)
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set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
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# Default to C++14
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if(NOT CMAKE_CXX_STANDARD)
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set(CMAKE_CXX_STANDARD 14)
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endif()
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# Find packages depencences
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find_package(rosidl_cmake REQUIRED)
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find_package(ament_cmake REQUIRED)
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@@ -193,11 +205,45 @@ set (_XmlDoc "<profiles>\n${_XmlDoc}</profiles>\n")
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file(WRITE "${_DEFAULT_FASTRTPS_PROFILES_PATH}" "${_XmlDoc}")
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# Only compile uROS agent if rclcpp is found
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find_package(rclcpp QUIET)
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if (rclcpp_FOUND)
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find_package(microxrcedds_agent_cmake_module REQUIRED)
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find_package(MicroXRCEDDS_Agent REQUIRED MODULE)
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add_executable(${PROJECT_NAME} src/main.cpp)
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ament_target_dependencies(
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${PROJECT_NAME}
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rclcpp
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microxrcedds_agent
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)
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# TODO(Javier) Temporal until thread error is solver
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target_link_libraries(
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${PROJECT_NAME}
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microxrcedds_agent
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)
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else()
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message("uROS agent node will be not build")
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endif()
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# Install the package.xml file, and generate code for ``find_package`` so that other packages can get information about this package.
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ament_package()
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# Only install if uROS_Agent is comiled
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if (rclcpp_FOUND)
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install(TARGETS
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${PROJECT_NAME}
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DESTINATION lib/${PROJECT_NAME}
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)
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endif()
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#Install
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install(
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FILES "${_DEFAULT_FASTRTPS_PROFILES_PATH}"
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@@ -209,4 +255,4 @@ install(
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#install(
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# DIRECTORY cmake resource
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# DESTINATION share/${PROJECT_NAME}
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#)
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#)
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@@ -14,8 +14,12 @@
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<depend>fastcdr</depend>
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<depend>fastrtps</depend>
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<depend>microxrcedds_agent</depend>
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<depend>microxrcedds_agent_cmake_module</depend>
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<depend>rosidl_cmake</depend>
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<build_depend>rclcpp</build_depend>
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<exec_depend>rclcpp</exec_depend>
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<test_depend>ament_lint_auto</test_depend>
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<test_depend>ament_lint_common</test_depend>
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@@ -0,0 +1,272 @@
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// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifdef _WIN32
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#include <uxr/agent/transport/udp/UDPServerWindows.hpp>
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#include <uxr/agent/transport/tcp/TCPServerWindows.hpp>
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#else
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#include <uxr/agent/transport/serial/SerialServerLinux.hpp>
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#include <uxr/agent/transport/udp/UDPServerLinux.hpp>
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#include <uxr/agent/transport/tcp/TCPServerLinux.hpp>
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#include <termios.h>
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#include <fcntl.h>
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#endif //_WIN32
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#include <iostream>
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#include <string>
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#include <limits>
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#include "rclcpp/rclcpp.hpp"
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void showHelp()
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{
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std::cout << "Usage: program <command>" << std::endl;
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std::cout << "List of commands:" << std::endl;
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std::cout << " serial <device_name>" << std::endl;
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std::cout << " pseudo-serial" << std::endl;
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std::cout << " udp <local_port> [<discovery_port>]" << std::endl;
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std::cout << " tcp <local_port> [<discovery_port>]" << std::endl;
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}
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void initializationError()
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{
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std::cout << "Error: Invalid arguments." << std::endl;
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showHelp();
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std::exit(EXIT_FAILURE);
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}
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uint16_t parsePort(const char* str_port)
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{
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uint16_t valid_port = 0;
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try
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{
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int port = std::stoi(str_port);
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if(port > (std::numeric_limits<uint16_t>::max)())
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{
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std::cout << "Error: port number '" << port << "out of range." << std::endl;
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initializationError();
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}
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valid_port = uint16_t(port);
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}
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catch (const std::invalid_argument& )
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{
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initializationError();
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}
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return valid_port;
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}
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class uros_agent : public rclcpp::Node
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{
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public:
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uros_agent() : Node("uROS_Agent")
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{
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}
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~uros_agent()
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{
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}
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private:
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};
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int main(int argc, char** argv)
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{
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bool initialized = false;
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#ifndef _WIN32
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if(argc == 2 && (strcmp(argv[1], "-h") == 0 || strcmp(argv[1], "--help") == 0))
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{
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showHelp();
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}
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else if(argc >= 3 && strcmp(argv[1], "udp") == 0)
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{
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std::cout << "UDP agent initialization... ";
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uint16_t port = parsePort(argv[2]);
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eprosima::uxr::UDPServer* udp_server = (argc == 4) //discovery port
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? new eprosima::uxr::UDPServer(port, parsePort(argv[3]))
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: new eprosima::uxr::UDPServer(port);
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if (udp_server->run())
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{
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initialized = true;
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}
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std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
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}
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else if(argc >= 3 && strcmp(argv[1], "tcp") == 0)
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{
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std::cout << "TCP agent initialization... ";
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uint16_t port = parsePort(argv[2]);
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eprosima::uxr::TCPServer* tcp_server = (argc == 4) //discovery port
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? new eprosima::uxr::TCPServer(port, parsePort(argv[3]))
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: new eprosima::uxr::TCPServer(port);
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if (tcp_server->run())
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{
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initialized = true;
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}
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std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
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}
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else if(argc == 3 && strcmp(argv[1], "serial") == 0)
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{
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std::cout << "Serial agent initialization... ";
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/* Open serial device. */
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int fd = open(argv[2], O_RDWR | O_NOCTTY);
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if (0 < fd)
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{
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struct termios tty_config;
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memset(&tty_config, 0, sizeof(tty_config));
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if (0 == tcgetattr(fd, &tty_config))
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{
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/* Setting CONTROL OPTIONS. */
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tty_config.c_cflag |= CREAD; // Enable read.
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tty_config.c_cflag |= CLOCAL; // Set local mode.
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tty_config.c_cflag &= ~PARENB; // Disable parity.
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tty_config.c_cflag &= ~CSTOPB; // Set one stop bit.
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tty_config.c_cflag &= ~CSIZE; // Mask the character size bits.
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tty_config.c_cflag |= CS8; // Set 8 data bits.
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tty_config.c_cflag &= ~CRTSCTS; // Disable hardware flow control.
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/* Setting LOCAL OPTIONS. */
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tty_config.c_lflag &= ~ICANON; // Set non-canonical input.
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tty_config.c_lflag &= ~ECHO; // Disable echoing of input characters.
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tty_config.c_lflag &= ~ECHOE; // Disable echoing the erase character.
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tty_config.c_lflag &= ~ISIG; // Disable SIGINTR, SIGSUSP, SIGDSUSP and SIGQUIT signals.
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/* Setting INPUT OPTIONS. */
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tty_config.c_iflag &= ~IXON; // Disable output software flow control.
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tty_config.c_iflag &= ~IXOFF; // Disable input software flow control.
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tty_config.c_iflag &= ~INPCK; // Disable parity check.
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tty_config.c_iflag &= ~ISTRIP; // Disable strip parity bits.
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tty_config.c_iflag &= ~IGNBRK; // No ignore break condition.
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tty_config.c_iflag &= ~IGNCR; // No ignore carrier return.
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tty_config.c_iflag &= ~INLCR; // No map NL to CR.
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tty_config.c_iflag &= ~ICRNL; // No map CR to NL.
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/* Setting OUTPUT OPTIONS. */
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tty_config.c_oflag &= ~OPOST; // Set raw output.
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/* Setting OUTPUT CHARACTERS. */
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tty_config.c_cc[VMIN] = 10;
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tty_config.c_cc[VTIME] = 1;
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/* Setting BAUD RATE. */
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cfsetispeed(&tty_config, B115200);
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cfsetospeed(&tty_config, B115200);
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if (0 == tcsetattr(fd, TCSANOW, &tty_config))
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{
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eprosima::uxr::SerialServer* serial_server = new eprosima::uxr::SerialServer(fd, 0);
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if (serial_server->run())
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{
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initialized = true;
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}
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}
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}
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}
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std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
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}
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else if (argc == 2 && strcmp(argv[1], "pseudo-serial") == 0)
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{
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std::cout << "Pseudo-Serial initialization... ";
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/* Open pseudo-terminal. */
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char* dev = NULL;
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int fd = posix_openpt(O_RDWR | O_NOCTTY);
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if (-1 != fd)
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{
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if (grantpt(fd) == 0 && unlockpt(fd) == 0 && (dev = ptsname(fd)))
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{
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struct termios attr;
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tcgetattr(fd, &attr);
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cfmakeraw(&attr);
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tcflush(fd, TCIOFLUSH);
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tcsetattr(fd, TCSANOW, &attr);
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}
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}
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/* Launch server. */
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eprosima::uxr::SerialServer* serial_server = new eprosima::uxr::SerialServer(fd, 0x00);
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if (serial_server->run())
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{
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initialized = true;
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}
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if (initialized)
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{
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std::cout << "OK" << std::endl;
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std::cout << "Device: " << dev << std::endl;
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}
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else
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{
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std::cout << "ERROR" << std::endl;
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}
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}
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else
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{
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initializationError();
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}
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#else
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(void) argc;
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(void) argv;
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std::string server_type = "";
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std::cout << "Select server type [udp|tcp]: ";
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std::cin >> server_type;
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if ("udp" == server_type)
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{
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uint16_t port = 0;
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std::cout << "Select port: ";
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std::cin >> port;
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std::cout << "UDP agent initialization.... ";
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eprosima::uxr::UDPServer* udp_server = new eprosima::uxr::UDPServer(port);
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if (udp_server->run())
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{
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initialized = true;
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}
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std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
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}
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else if ("tcp" == server_type)
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{
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uint16_t port = 0;
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std::cout << "Select port: ";
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std::cin >> port;
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std::cout << "UDP agent initialization.... ";
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eprosima::uxr::TCPServer* tcp_server = new eprosima::uxr::TCPServer(port);
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if (tcp_server->run())
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{
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initialized = true;
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}
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std::cout << ((!initialized) ? "ERROR" : "OK") << std::endl;
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}
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else
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{
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std::cout << "Error server type" << std::endl;
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}
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#endif
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if(initialized)
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{
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rclcpp::init(argc, argv);
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rclcpp::spin(std::make_shared<uros_agent>());
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rclcpp::shutdown();
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}
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return 0;
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}
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