Merge pull request #1 from microROS/develop

Develop

C/RAD0_actuator/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.5)
+set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
+project(rad0_actuator_c)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclc QUIET)
+find_package(std_msgs REQUIRED)
+
+# Do not compile package if rclcpp is not found
+if (NOT rclc_FOUND)
+  message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
+  ament_package()
+  return()
+endif()
+
+add_executable(${PROJECT_NAME} main.c)
+ament_target_dependencies(${PROJECT_NAME} rclc std_msgs)
+
+install(TARGETS
+  ${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

C/RAD0_actuator/main.c

@@ -0,0 +1,66 @@
+#include <rclc/rclc.h>
+#include <std_msgs/msg/string.h>
+#include <std_msgs/msg/int32.h>
+#include <std_msgs/msg/u_int32.h>
+
+#include <stdio.h>
+
+#define ASSERT(ptr) if (ptr == NULL) return -1;
+
+static rclc_publisher_t* engine_pub;
+static uint32_t engine_power = 100;
+
+void engine_on_message(const void* msgin)
+{
+
+    const std_msgs__msg__Int32* msg = (const std_msgs__msg__Int32*)msgin;
+
+    if (msg->data + engine_power > 0)
+    {
+        engine_power += msg->data;
+    }
+    else
+    {
+        engine_power = 0;
+    }
+
+    // Publish new altitude    
+    std_msgs__msg__UInt32  msg_out;
+    msg_out.data = engine_power;
+    rclc_publish(engine_pub, (const void*)&msg_out);
+}
+
+int main(int argc, char* argv[])
+{
+    (void)argc;
+    (void)argv;
+
+    rclc_node_t* node = NULL; 
+    rclc_subscription_t* engine_sub = NULL;
+
+
+
+    rclc_init(0, NULL);
+    node = rclc_create_node("rad0_actuator_c", "");
+    ASSERT(node);
+    engine_sub = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "std_msgs_msg_Int32", engine_on_message, 1, false);
+    ASSERT(engine_sub);
+    engine_pub = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt32), "std_msgs_msg_UInt32", 1);
+    ASSERT(engine_pub);
+
+    // Publish new altitude    
+    std_msgs__msg__UInt32  msg_out;
+    msg_out.data = engine_power;
+    rclc_publish(engine_pub, (const void*)&msg_out);
+
+    rclc_spin_node(node);
+
+    //if (altitude_sub) rclc_destroy_subscription(altitude_sub);
+    if (engine_sub) rclc_destroy_subscription(engine_sub);
+    if (engine_pub) rclc_destroy_publisher(engine_pub);
+    if (node) rclc_destroy_node(node);
+
+    printf("Actuator node closed.\n");
+
+    return 0;
+}

C/RAD0_actuator/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rad0_actuator_c</name>
+  <version>0.0.1</version>
+  <description>Real apliacion demostration. Actuator node</description>
+  <maintainer email="[email protected]">Javier Moreno</maintainer>
+  <license>Apache License 2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rclc</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

C/RAD0_altitude_sensor/CMakeLists.txt

@@ -0,0 +1,26 @@
+cmake_minimum_required(VERSION 3.5)
+set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
+project(rad0_altitude_sensor_c)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclc QUIET)
+find_package(std_msgs REQUIRED)
+
+# Do not compile package if rclcpp is not found
+if (NOT rclc_FOUND)
+  message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
+  ament_package()
+  return()
+endif()
+
+add_executable(${PROJECT_NAME} main.c)
+ament_target_dependencies(${PROJECT_NAME} rclc std_msgs)
+
+target_link_libraries(${PROJECT_NAME} m)
+
+install(TARGETS
+${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

C/RAD0_altitude_sensor/main.c

@@ -0,0 +1,55 @@
+#include <rclc/rclc.h>
+#include <std_msgs/msg/float64.h>
+#include <std_msgs/msg/int32.h>
+
+#include <stdio.h>
+#include <math.h>
+#include <time.h>
+
+#define ASSERT(ptr) if (ptr == NULL) return -1;
+
+/**
+ * @brief 
+ * 
+ * @param argc 
+ * @param argv 
+ * @return int 
+ */
+int main(int argc, char *argv[])
+{
+    (void)argc;
+    (void)argv;
+    rclc_init(0, NULL);
+
+    rclc_node_t* node = NULL;
+    rclc_publisher_t* publisher = NULL;
+
+    node = rclc_create_node("rad0_altitude_sensor_c", "");
+    ASSERT(node);
+    publisher = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float64), "std_msgs_msg_Float64", 1);
+    ASSERT(publisher);
+
+
+    double A = 0;
+
+
+    while (rclc_ok())
+    {        
+        A += 0.0001;
+
+        // Publish new altitude  
+        std_msgs__msg__Float64 msg;
+        msg.data = 500 * sin(A) + 950;
+        rclc_publish(publisher, (const void*)&msg);
+
+
+        // Spin node
+        rclc_spin_node_once(node, 0);    
+    }
+
+    if (publisher) rclc_destroy_publisher(publisher);
+    if (node) rclc_destroy_node(node);
+
+    printf("altitude sendor closed.\n");
+    return 0;
+}

C/RAD0_altitude_sensor/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rad0_altitude_sensor_c</name>
+  <version>0.0.1</version>
+  <description>Real apliacion demostration. Position sensor node</description>
+  <maintainer email="[email protected]">Javier Moreno</maintainer>
+  <license>Apache License 2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rclc</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

C/RAD0_display/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.5)
+set(CMAKE_CXX_CLANG_TIDY clang-tidy -checks=*)
+project(rad0_display_c)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclc QUIET)
+find_package(std_msgs REQUIRED)
+
+# Do not compile package if rclcpp is not found
+if (NOT rclc_FOUND)
+  message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
+  ament_package()
+  return()
+endif()
+
+add_executable(${PROJECT_NAME} main.c)
+ament_target_dependencies(${PROJECT_NAME} rclc std_msgs)
+
+install(TARGETS
+${PROJECT_NAME}
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()

C/RAD0_display/main.c

@@ -0,0 +1,104 @@
+#include <rclc/rclc.h>
+#include <std_msgs/msg/string.h>
+#include <std_msgs/msg/float64.h>
+#include <std_msgs/msg/int32.h>
+#include <std_msgs/msg/u_int32.h>
+
+#include <stdio.h>
+
+#define ASSERT(ptr) if (ptr == NULL) return -1;
+
+static float altitude;
+static uint32_t engine_power;
+static unsigned it;
+static char Alert[200];
+
+/**
+ * @brief Update screen 
+ * 
+ */
+void UpdateDisplay()
+{
+    printf("\r[received messages: %7u]    [Altitude: %8.2f]    [Engine power: %8u]    [Status: %10s]", it++, altitude, engine_power, Alert);
+}
+
+
+/**
+ * @brief new alert callback
+ * 
+ * @param msgin 
+ */
+void on_alert_message(const void* msgin)
+{
+    const std_msgs__msg__String* msg = (const std_msgs__msg__String*)msgin;
+    strcpy(Alert, msg->data.data);
+
+    UpdateDisplay();
+}
+
+
+/**
+ * @brief new altitude calback
+ * 
+ * @param msgin 
+ */
+void on_altitude_message(const void* msgin)
+{
+    std_msgs__msg__Float64* msg = (std_msgs__msg__Float64*)msgin;
+
+    altitude = msg->data;
+    UpdateDisplay();
+}
+
+/**
+ * @brief 
+ * 
+ * @param msgin 
+ */
+void on_power_message(const void* msgin)
+{
+    std_msgs__msg__UInt32* msg = (std_msgs__msg__UInt32*)msgin;
+
+    engine_power = msg->data;
+    UpdateDisplay();
+}
+
+
+/**
+ * @brief Main
+ * 
+ * @param argc 
+ * @param argv 
+ * @return int 
+ */
+int main(int argc, char *argv[])
+{
+    (void)argc;
+    (void)argv;
+
+    rclc_node_t* node = NULL;
+    rclc_subscription_t* alert_subscription = NULL;
+    rclc_subscription_t* altitude_subscription = NULL;
+    rclc_subscription_t* power_subscription = NULL;
+
+
+    rclc_init(0, NULL);
+
+    node = rclc_create_node("rad0_display_c", "");
+    ASSERT(node);
+    alert_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, String), "std_msgs_msg_String", on_alert_message, 1, false);
+    ASSERT(alert_subscription);
+    altitude_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float64), "std_msgs_msg_Float64", on_altitude_message, 1, false);
+    ASSERT(altitude_subscription);
+    power_subscription = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt32), "std_msgs_msg_UInt32", on_power_message, 1, false);
+    ASSERT(power_subscription);
+
+    rclc_spin_node(node);
+
+    if (alert_subscription) rclc_destroy_subscription(alert_subscription);
+    if (altitude_subscription) rclc_destroy_subscription(altitude_subscription);
+    if (node) rclc_destroy_node(node);
+
+    printf("Display node closed.");
+
+}

C/RAD0_display/package.xml

@@ -0,0 +1,16 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>rad0_display_c</name>
+  <version>0.0.1</version>
+  <description>Real apliacion demostration. Display on screen any message</description>
+  <maintainer email="[email protected]">Javier Moreno</maintainer>
+  <license>Apache License 2.0</license>
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rclc</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>
+

C/complex_msg_publisher/CMakeLists.txt

@@ -0,0 +1,24 @@
+cmake_minimum_required(VERSION 3.5)
+set(CMAKE_C_CLANG_TIDY clang-tidy -checks=*)
+project(complex_msg_publisher_c)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclc QUIET)
+find_package(complex_msgs REQUIRED)
+
+# Do not compile package if rclcpp is not found
+if (NOT rclc_FOUND)
+  message(WARNING "${PROJECT_NAME} will be ignored due to rclc is not installed")
+  ament_package()
+  return()
+endif()
+
+add_executable(${PROJECT_NAME}  main.c)
+ament_target_dependencies(${PROJECT_NAME} rclc complex_msgs)
+
+install(TARGETS
+  ${PROJECT_NAME} 
+  DESTINATION lib/${PROJECT_NAME}
+)
+
+ament_package()