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# Created by https://www.toptal.com/developers/gitignore/api/ros2,visualstudiocode,cmake,c++
# Edit at https://www.toptal.com/developers/gitignore?templates=ros2,visualstudiocode,cmake,c++
### C++ ###
# Prerequisites
*.d
# Compiled Object files
*.slo
*.lo
*.o
*.obj
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app
### CMake ###
CMakeLists.txt.user
CMakeCache.txt
CMakeFiles
CMakeScripts
Testing
Makefile
cmake_install.cmake
install_manifest.txt
compile_commands.json
CTestTestfile.cmake
_deps
### CMake Patch ###
# External projects
*-prefix/
### ROS2 ###
install/
log/
build/
# Ignore generated docs
*.dox
*.wikidoc
# eclipse stuff
.project
.cproject
# qcreator stuff
srv/_*.py
*.pcd
*.pyc
qtcreator-*
*.user
*~
# Emacs
.#*
# Colcon custom files
COLCON_IGNORE
AMENT_IGNORE
### VisualStudioCode ###
.vscode/*
!.vscode/settings.json
!.vscode/tasks.json
!.vscode/launch.json
!.vscode/extensions.json
!.vscode/*.code-snippets
# Local History for Visual Studio Code
.history/
# Built Visual Studio Code Extensions
*.vsix
### VisualStudioCode Patch ###
# Ignore all local history of files
.history
.ionide
# End of https://www.toptal.com/developers/gitignore/api/ros2,visualstudiocode,cmake,c++
.vscode
.cache

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cmake_minimum_required(VERSION 3.8)
project(modelec)
# Enable all warnings for GCC/Clang
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# Set C++ standard
set(CMAKE_CXX_STANDARD 17)
set(CMAKE_CXX_STANDARD_REQUIRED ON)
set(CMAKE_CXX_EXTENSIONS OFF)
# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(Boost REQUIRED COMPONENTS system)
find_package(modelec_interface REQUIRED)
find_library(WIRINGPI_LIB wiringPi)
# USB Arduino Listener Node
add_executable(usb_arduino_listener src/usb_arduino_listener.cpp)
ament_target_dependencies(usb_arduino_listener rclcpp std_msgs)
target_link_libraries(usb_arduino_listener Boost::system)
target_include_directories(usb_arduino_listener PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# USB Arduino Logic Processor Node
add_executable(usb_arduino_logic_processor src/usb_arduino_logic_processor.cpp)
ament_target_dependencies(usb_arduino_logic_processor rclcpp std_msgs modelec_interface)
target_include_directories(usb_arduino_logic_processor PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# PCA9685 Listener Node
add_executable(pca9685_controller src/pca9685_controller.cpp)
ament_target_dependencies(pca9685_controller rclcpp std_msgs modelec_interface)
target_link_libraries(pca9685_controller ${WIRINGPI_LIB})
target_include_directories(pca9685_controller PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_executable(gamecontroller_listener src/gamecontroller_listener.cpp)
ament_target_dependencies(gamecontroller_listener rclcpp std_msgs sensor_msgs modelec_interface)
target_include_directories(gamecontroller_listener PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_executable(move_controller src/move_controller.cpp)
ament_target_dependencies(move_controller rclcpp std_msgs sensor_msgs modelec_interface)
target_include_directories(move_controller PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_executable(tirette_controller src/tirette_controller.cpp)
ament_target_dependencies(tirette_controller rclcpp std_msgs modelec_interface)
target_link_libraries(tirette_controller ${WIRINGPI_LIB})
target_include_directories(tirette_controller PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_executable(solenoid_controller src/solenoid_controller.cpp)
ament_target_dependencies(solenoid_controller rclcpp modelec_interface)
target_link_libraries(solenoid_controller ${WIRINGPI_LIB})
target_include_directories(solenoid_controller PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_executable(arm_controller src/arm_controller.cpp)
ament_target_dependencies(arm_controller rclcpp std_msgs modelec_interface)
target_link_libraries(arm_controller ${WIRINGPI_LIB})
target_include_directories(arm_controller PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Install targets
install(TARGETS
usb_arduino_listener
usb_arduino_logic_processor
pca9685_controller
gamecontroller_listener
move_controller
tirette_controller
solenoid_controller
arm_controller
DESTINATION lib/${PROJECT_NAME}
)
# Install include files
install(DIRECTORY include/
DESTINATION include/
)
# Install launch files
install(DIRECTORY launch/
DESTINATION share/${PROJECT_NAME}/launch
)
# Enable testing and linting
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
# Finalize package
ament_package()

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GNU GENERAL PUBLIC LICENSE
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Nothing in this License shall be construed as excluding or limiting
any implied license or other defenses to infringement that may
otherwise be available to you under applicable patent law.
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License would be to refrain entirely from conveying the Program.
13. Use with the GNU Affero General Public License.
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under version 3 of the GNU Affero General Public License into a single
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14. Revised Versions of this License.
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If the Program specifies that a proxy can decide which future
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Also add information on how to contact you by electronic and paper mail.
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notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
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This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
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You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.

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src/modelec/include/modelec/arm_controller.hpp Normal file
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#pragma once
#include <modelec_interface/msg/pca9685_servo.hpp>
#include <array>
#include <rclcpp/rclcpp.hpp>
#include <modelec_interface/msg/pca9685_servo.hpp>
#include <modelec_interface/msg/servo_mode.hpp>
#include <modelec_interface/srv/new_servo_motor.hpp>
#include <rclcpp/subscription.hpp>
#include <map>
#define PINCE_1_PIN 0
#define PINCE_2_PIN 1
#define PINCE_3_PIN 2
#define ARM_1_PIN 3
#define ARM_2_PIN 4
namespace Modelec {
class ArmController : public rclcpp::Node {
using Mode = modelec_interface::msg::ServoMode;
struct Pince {
int pin;
int mode;
std::array<int, 4> angles;
};
struct Arm {
std::map<int, std::array<int, 3>> pins;
int mode;
};
public:
ArmController();
private:
rclcpp::Publisher<modelec_interface::msg::PCA9685Servo>::SharedPtr publisher_;
rclcpp::Subscription<modelec_interface::msg::ServoMode>::SharedPtr subscription_;
std::unordered_map<int, Pince> pince_pins = {
{PINCE_1_PIN, {PINCE_1_PIN, Mode::PINCE_CLOSED, {136, 123, 112, 102}}},
{PINCE_2_PIN, {PINCE_2_PIN, Mode::PINCE_CLOSED, {42, 32, 19, 15}}},
{PINCE_3_PIN, {PINCE_3_PIN, Mode::PINCE_CLOSED, {152, 141, 125, 122}}},
};
Arm arm = {
{
{ARM_1_PIN, {180, 168, 52}},
{ARM_2_PIN, {0, 12, 128}},
},
Mode::ARM_BOTTOM
};
// service lient to add a servo
rclcpp::Client<modelec_interface::srv::NewServoMotor>::SharedPtr client_;
void ControlPince(const Mode::SharedPtr msg);
void ControlArm(const Mode::SharedPtr msg);
};
}

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src/modelec/include/modelec/gamecontroller_listener.hpp Normal file
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#pragma once
#include <std_msgs/msg/string.hpp>
#include <rclcpp/rclcpp.hpp>
#include <sensor_msgs/msg/joy.hpp>
#include <modelec_interface/msg/servo_mode.hpp>
#include <modelec/utils.hpp>
namespace Modelec {
class ControllerListener : public rclcpp::Node
{
using ServoMode = modelec_interface::msg::ServoMode;
std::array<int, 3> pinces = {
ServoMode::PINCE_CLOSED,
ServoMode::PINCE_CLOSED,
ServoMode::PINCE_CLOSED,
};
int arm = ServoMode::ARM_BOTTOM;
public:
ControllerListener();
private:
void joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg);
rclcpp::Subscription<sensor_msgs::msg::Joy>::SharedPtr subscription_;
rclcpp::Publisher<ServoMode>::SharedPtr servo_publisher_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr arduino_publisher_;
void CheckButton(const sensor_msgs::msg::Joy::SharedPtr msg);
void CheckAxis(const sensor_msgs::msg::Joy::SharedPtr msg);
int last_speed = 0;
int last_rotation = 0;
};
}

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src/modelec/include/modelec/move_controller.hpp Normal file
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#pragma once
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
#define REFRESH_RATE 100
namespace Modelec {
class MoveController : public rclcpp::Node {
public:
MoveController();
private:
rclcpp::TimerBase::SharedPtr timer;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber;
float speedX, speedZ;
float x, y, z, theta;
float x_target, y_target, z_target, theta_target;
void move();
void move_target_callback(const std_msgs::msg::String::SharedPtr msg);
};
}

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src/modelec/include/modelec/pca9685_controller.hpp Normal file
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#pragma once
#include <rclcpp/rclcpp.hpp>
#include <unordered_set>
#include <wiringPi.h>
#include <wiringPiI2C.h>
#include <modelec_interface/msg/pca9685_servo.hpp>
#include <modelec_interface/srv/new_servo_motor.hpp>
#include <std_msgs/msg/empty.hpp>
#define PCA9685_FREQUENCY 25000000.0
#define PCA9685_RESOLUTION 4096.0
// Servo and solenoid PWM limits
#define SERVO_MIN 82
#define SERVO_MAX 492
#define PCA9685_ADDR 0x40 // I2C address for the PCA9685
namespace Modelec {
class PCA9685Controller : public rclcpp::Node {
public:
PCA9685Controller();
private:
int fd; // File descriptor for I2C communication
rclcpp::Subscription<modelec_interface::msg::PCA9685Servo>::SharedPtr servo_subscriber_;
rclcpp::Subscription<std_msgs::msg::Empty>::SharedPtr clear_subscriber_;
int frequency = 50; // Default PWM frequency (Hz)
std::unordered_set<int> active_servos;
// service to add a servo
rclcpp::Service<modelec_interface::srv::NewServoMotor>::SharedPtr add_servo_service_;
OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_;
rcl_interfaces::msg::SetParametersResult onParameterChange(const std::vector<rclcpp::Parameter> &parameters);
void updatePCA9685();
// PCA9685 configuration and control
void initializePCA9685();
void configurePCA9685Frequency(int frequency);
void SetPCA9685PWM(int channel, int on_time, int off_time);
void setServoPWM(int channel, double angle);
void clearAllDevices();
void writePCA9685Register(uint8_t reg, uint8_t value);
};
}

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src/modelec/include/modelec/solenoid_controller.hpp Normal file
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#pragma once
#include <rclcpp/rclcpp.hpp>
#include <unordered_set>
#include <wiringPi.h>
#include <modelec_interface/msg/solenoid.hpp>
namespace Modelec {
class SolenoidController : public rclcpp::Node {
public:
SolenoidController();
private:
std::unordered_set<int> solenoid_pin_;
rclcpp::Subscription<modelec_interface::msg::Solenoid>::SharedPtr solenoid_subscriber_;
rclcpp::Subscription<modelec_interface::msg::Solenoid>::SharedPtr solenoid_add_subscriber_;
void activateSolenoid(const modelec_interface::msg::Solenoid::SharedPtr msg);
void addSolenoidPin(const modelec_interface::msg::Solenoid::SharedPtr msg);
};
}

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src/modelec/include/modelec/tirette_controller.hpp Normal file
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#pragma once
#include <rclcpp/rclcpp.hpp>
#include <modelec_interface/srv/tirette.hpp>
#include <std_msgs/msg/bool.hpp>
#include <wiringPi.h>
#define REFRESH_RATE 100
#define GPIO_TIRETTE 17
using TiretteInterface = modelec_interface::srv::Tirette;
namespace Modelec {
class TiretteController : public rclcpp::Node {
public:
TiretteController();
private:
rclcpp::Service<TiretteInterface>::SharedPtr service;
rclcpp::TimerBase::SharedPtr timer;
rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr publisher;
bool tirette_state;
void check_tirette(const std::shared_ptr<TiretteInterface::Request> request, std::shared_ptr<TiretteInterface::Response> response);
};
}

40
src/modelec/include/modelec/usb_arduino_listener.hpp Normal file
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#pragma once
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
#include <boost/asio.hpp>
#define SERIAL_PORT "/dev/pts/6"
#define MAX_MESSAGE_LEN 1048
#define BAUDS 115200 //vitesse des données (bit/sec)
namespace Modelec {
class USBListener : public rclcpp::Node {
public:
USBListener();
~USBListener() override;
private:
int bauds = BAUDS;
std::string serial_port = SERIAL_PORT;
int max_message_len = MAX_MESSAGE_LEN;
boost::asio::io_service io;
boost::asio::serial_port port;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber;
rclcpp::TimerBase::SharedPtr timer;
void readData();
OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_;
rcl_interfaces::msg::SetParametersResult onParameterChange(const std::vector<rclcpp::Parameter> &parameters);
void updateConnection();
void write_to_arduino(const std::string &data);
bool initializeConnection();
};
}

39
src/modelec/include/modelec/usb_arduino_listener_newlib.hpp Normal file
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#pragma once
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
#include <wiringSerial.h>
#define SERIAL_PORT "/dev/pts/6"
#define MAX_MESSAGE_LEN 1048
#define BAUDS 115200 //vitesse des données (bit/sec)
namespace Modelec {
class USBListener : public rclcpp::Node {
public:
USBListener();
~USBListener() override;
private:
int bauds = BAUDS;
std::string serial_port = SERIAL_PORT;
int max_message_len = MAX_MESSAGE_LEN;
int fd;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher;
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber;
rclcpp::TimerBase::SharedPtr timer;
void readData();
OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_;
rcl_interfaces::msg::SetParametersResult onParameterChange(const std::vector<rclcpp::Parameter> &parameters);
void updateConnection();
void write_to_arduino(const std::string &data);
bool initializeConnection();
};
}

18
src/modelec/include/modelec/usb_aruido_logic_processor.hpp Normal file
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#pragma once
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
#include <modelec/utils.hpp>
#include <modelec_interface/msg/arduino_data.hpp>
namespace Modelec {
class LogicProcessor : public rclcpp::Node {
public:
LogicProcessor();
private:
void processData(const std::string &data);
rclcpp::Subscription<std_msgs::msg::String>::SharedPtr subscriber_;
rclcpp::Publisher<modelec_interface::msg::ArduinoData>::SharedPtr publisher_;
};
}

47
src/modelec/include/modelec/utils.hpp Normal file
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#pragma once
#include <string>
#include <vector>
#include <sstream>
namespace Modelec {
#define PI 3.14159265358979323846
inline std::vector<std::string> split(const std::string &s, char delim) {
std::vector<std::string> result;
std::string token;
std::istringstream tokenStream(s);
while (std::getline(tokenStream, token, delim)) {
result.push_back(token);
}
return result;
}
inline std::string join(const std::vector<std::string> &v, const std::string &delim) {
std::string result;
for (size_t i = 0; i < v.size(); ++i) {
if (i != 0) {
result += delim;
}
result += v[i];
}
return result;
}
inline bool startsWith(const std::string &s, const std::string &prefix) {
return s.rfind(prefix, 0) == 0;
}
inline bool endsWith(const std::string &s, const std::string &suffix) {
return s.size() >= suffix.size() && s.rfind(suffix) == s.size() - suffix.size();
}
inline bool contains(const std::string &s, const std::string &substring) {
return s.find(substring) != std::string::npos;
}
template <typename T, typename std::enable_if<std::is_arithmetic<T>::value, int>::type = 0>
T mapValue(T v, T v_min, T v_max, T v_min_prime, T v_max_prime) {
return v_min_prime + (((v - v_min) * (v_max_prime - v_min_prime)) / (v_max - v_min));
}
}

26
src/modelec/launch/modelec.launch.yml Normal file
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launch:
- node:
pkg: modelec
exec: "usb_arduino_listener"
name: "usb_arduino_listener"
- node:
pkg: 'modelec'
exec: 'usb_arduino_logic_processor'
name: 'usb_arduino_logic_processor'
- node:
pkg: 'modelec'
exec: 'pca9685_servo'
name: 'pca9685_servo'
- node:
pkg: 'modelec'
exec: 'solenoid_controller'
name: 'solenoid_controller'
- node:
pkg: 'modelec'
exec: 'tirette_controller'
name: 'tirette_controller'

36
src/modelec/launch/modelec_gamecontroller.launch.yml Normal file
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launch:
- node:
pkg: modelec
exec: "usb_arduino_listener"
name: "usb_arduino_listener"
- node:
pkg: 'modelec'
exec: 'usb_arduino_logic_processor'
name: 'usb_arduino_logic_processor'
- node:
pkg: 'modelec'
exec: 'pca9685_controller'
name: 'pca9685_controller'
- node:
pkg: 'modelec'
exec: 'solenoid_controller'
name: 'solenoid_controller'
- node:
pkg: 'modelec'
exec: 'arm_controller'
name: 'arm_controller'
- node:
pkg: 'joy'
exec: 'joy_node'
name: 'joy_node'
- node:
pkg: 'modelec'
exec: 'gamecontroller_listener'
name: 'gamecontroller_listener'

26
src/modelec/package.xml Normal file
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<?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>modelec</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="contact@modelec.club">modelec</maintainer>
<license>GPL-3.0-only</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>modelec_interface</depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<build_depend>boost</build_depend>
<exec_depend>boost</exec_depend>
<exec_depend>ros2launch</exec_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

100
src/modelec/src/arm_controller.cpp Normal file
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#include "modelec_interface/msg/servo_mode.hpp"
#include <modelec/arm_controller.hpp>
namespace Modelec {
ArmController::ArmController() : Node("pince_controller") {
publisher_ = this->create_publisher<modelec_interface::msg::PCA9685Servo>("servo_control", 10);
client_ = this->create_client<modelec_interface::srv::NewServoMotor>("add_servo");
for (int pin : {PINCE_1_PIN, PINCE_2_PIN, PINCE_3_PIN}) {
auto request = std::make_shared<modelec_interface::srv::NewServoMotor::Request>();
request->pin = pin;
auto res = client_->async_send_request(request);
if (rclcpp::spin_until_future_complete(this->get_node_base_interface(), res) == rclcpp::FutureReturnCode::SUCCESS) {
if (!res.get()->success) {
RCLCPP_ERROR(this->get_logger(), "Failed to add servo on pin %d", pin);
}
} else {
RCLCPP_ERROR(this->get_logger(), "Service call failed");
}
}
subscription_ = this->create_subscription<modelec_interface::msg::ServoMode>(
"arm_control", 10, [this](const modelec_interface::msg::ServoMode::SharedPtr msg) {
// control the message
if (msg->is_arm) {
ControlArm(msg);
} else if (pince_pins.find(msg->pin) != pince_pins.end()) {
ControlPince(msg);
}
});
}
void ArmController::ControlPince(const Mode::SharedPtr msg) {
auto pince = pince_pins[msg->pin];
if (msg->mode == pince.mode) {
return;
}
auto message = modelec_interface::msg::PCA9685Servo();
message.pin = pince.pin;
message.angle = pince.angles[msg->mode];
publisher_->publish(message);
}
void ArmController::ControlArm(const Mode::SharedPtr msg) {
if (arm.mode == msg->mode) {
return;
}
for (auto pince : pince_pins) {
if (pince.second.mode != Mode::PINCE_CLOSED) {
auto message = modelec_interface::msg::PCA9685Servo();
message.pin = pince.second.pin;
message.angle = pince.second.angles[msg->mode];
publisher_->publish(message);
}
}
int direction = -1;
if (arm.mode == Mode::ARM_BOTTOM && msg->mode == Mode::ARM_TOP) {
direction = 1;
} else if (arm.mode == Mode::ARM_TOP && msg->mode == Mode::ARM_BOTTOM) {
direction = -1;
} else if (arm.mode == Mode::ARM_MIDDLE && msg->mode == Mode::ARM_TOP) {
direction = 1;
} else if (arm.mode == Mode::ARM_TOP && msg->mode == Mode::ARM_MIDDLE) {
direction = -1;
}
int startAngle = arm.pins[ARM_1_PIN][arm.mode];
for (int angle = startAngle; angle != arm.pins[ARM_1_PIN][msg->mode]; angle += 2 * direction) {
auto message = modelec_interface::msg::PCA9685Servo();
message.pin = ARM_1_PIN;
message.angle = angle;
publisher_->publish(message);
message.pin = ARM_2_PIN;
message.angle = 180 - angle;
publisher_->publish(message);
std::this_thread::sleep_for(std::chrono::milliseconds(10));
}
auto message = modelec_interface::msg::PCA9685Servo();
message.pin = ARM_1_PIN;
message.angle = arm.pins[ARM_1_PIN][msg->mode];
publisher_->publish(message);
message.pin = ARM_2_PIN;
message.angle = arm.pins[ARM_2_PIN][msg->mode];
publisher_->publish(message);
}
}
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::ArmController>());
rclcpp::shutdown();
return 0;
}

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src/modelec/src/gamecontroller_listener.cpp Normal file
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#include "modelec/gamecontroller_listener.hpp"
namespace Modelec {
ControllerListener::ControllerListener() : Node("controller_listener")
{
// Subscribe to the 'joy' topic
subscription_ = this->create_subscription<sensor_msgs::msg::Joy>(
"joy", 10,
std::bind(&ControllerListener::joy_callback, this, std::placeholders::_1));
servo_publisher_ = this->create_publisher<ServoMode>("arm_control", 10);
arduino_publisher_ = this->create_publisher<std_msgs::msg::String>("send_to_arduino", 10);
}
void ControllerListener::joy_callback(const sensor_msgs::msg::Joy::SharedPtr msg)
{
// Handle the joystick input here
RCLCPP_INFO(this->get_logger(), "Joystick axes: [%f, %f, %f, %f, %f, %f]",
msg->axes[0], msg->axes[1], msg->axes[2], msg->axes[3], msg->axes[4], msg->axes[5]);
RCLCPP_INFO(this->get_logger(), "Joystick buttons: [%d, %d, %d, %d, %d, %d, %d, %d, %d, %d, %d, %d]",
msg->buttons[0], msg->buttons[1], msg->buttons[2], msg->buttons[3],
msg->buttons[4], msg->buttons[5], msg->buttons[6], msg->buttons[7],
msg->buttons[8], msg->buttons[9], msg->buttons[10], msg->buttons[11]);
CheckButton(msg);
CheckAxis(msg);
}
void ControllerListener::CheckButton(const sensor_msgs::msg::Joy::SharedPtr msg)
{
if (msg->buttons[2] == 1) {
auto message = ServoMode();
message.pin = 0;
if (pinces[0] == ServoMode::PINCE_CLOSED) {
pinces[0] = ServoMode::PINCE_OPEN;
} else {
pinces[0] = ServoMode::PINCE_CLOSED;
}
message.mode = pinces[0];
servo_publisher_->publish(message);
}
if (msg->buttons[3] == 1) {
auto message = ServoMode();
message.pin = 1;
if (pinces[1] == ServoMode::PINCE_CLOSED) {
pinces[1] = ServoMode::PINCE_OPEN;
} else {
pinces[1] = ServoMode::PINCE_CLOSED;
}
message.mode = pinces[1];
servo_publisher_->publish(message);
}
if (msg->buttons[1] == 1) {
auto message = ServoMode();
message.pin = 2;
if (pinces[2] == ServoMode::PINCE_CLOSED) {
pinces[2] = ServoMode::PINCE_OPEN;
} else {
pinces[2] = ServoMode::PINCE_CLOSED;
}
message.mode = pinces[2];
servo_publisher_->publish(message);
}
// arm
if (msg->buttons[0] == 1) {
auto message = ServoMode();
if (arm == ServoMode::ARM_BOTTOM) {
arm = ServoMode::ARM_TOP;
} else if (arm == ServoMode::ARM_TOP) {
arm = ServoMode::ARM_MIDDLE;
} else {
arm = ServoMode::ARM_BOTTOM;
}
message.mode = arm;
servo_publisher_->publish(message);
}
if (msg->buttons[9] || msg->buttons[10]) {
auto message = std_msgs::msg::String();
message.data = "W\n";
arduino_publisher_->publish(message);
}
}
void ControllerListener::CheckAxis(const sensor_msgs::msg::Joy::SharedPtr msg)
{
// arm
// TODO
// do not know the range of the axis value, like if it is between -1 and 1 or not
auto message = std_msgs::msg::String();
int speed = 0;
if (msg->axes[1] < 0.1 && msg->axes[1] > -0.1) {
speed = 0;
}
if (speed != last_speed) {
message.data = "V " + std::to_string(speed) + "\n";
arduino_publisher_->publish(message);
last_speed = speed;
}
int rotation = 0;
if (msg->axes[2] < 0.1 && msg->axes[2] > -0.1) {
rotation = 0;
}
if (rotation != last_rotation) {
message.data = "R " + std::to_string(rotation) + "\n";
arduino_publisher_->publish(message);
last_rotation = rotation;
}
}
}
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::ControllerListener>());
rclcpp::shutdown();
return 0;
}

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#include <modelec/move_controller.hpp>
namespace Modelec {
MoveController::MoveController() : Node("move_controller")
{
// Initialize the speed
speedX = 0.0;
speedZ = 0.0;
// Initialize the target position
x_target = 0.0;
y_target = 0.0;
z_target = 0.0;
theta_target = 0.0;
// Initialize the publisher
publisher = this->create_publisher<std_msgs::msg::String>("robot_position", 10);
// Initialize the subscriber
subscriber = this->create_subscription<std_msgs::msg::String>(
"move_target", 10,
std::bind(&MoveController::move_target_callback, this, std::placeholders::_1));
// Initialize the timer
timer = this->create_wall_timer(std::chrono::milliseconds(REFRESH_RATE), std::bind(&MoveController::move, this));
}
void MoveController::move()
{
// Move the robot
x += speedX;
z += speedZ;
// Check if the robot has reached the target position
if ((x >= x_target && x+speedX < x_target) || (x <= x_target && x+speedX > x_target))
{
speedX = 0.0;
}
if ((z >= z_target && z+speedZ < z_target) || (z <= z_target && z+speedZ > z_target))
{
speedZ = 0.0;
}
// Prepare and publish the message
auto msg = std_msgs::msg::String();
msg.data = std::to_string(x) + " " + std::to_string(y) + " " + std::to_string(z) + " " + std::to_string(theta);
publisher->publish(msg);
}
void MoveController::move_target_callback(const std_msgs::msg::String::SharedPtr msg)
{
// Parse the target position
std::istringstream iss(msg->data);
iss >> x_target >> y_target >> z_target >> theta_target;
// Calculate the speed
speedX = (x_target - x) / 100;
speedZ = (z_target - z) / 100;
RCLCPP_INFO(this->get_logger(), "Target position: %f %f %f %f", x_target, y_target, z_target, theta_target);
}
}
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::MoveController>());
rclcpp::shutdown();
return 0;
}

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#include "modelec/pca9685_controller.hpp"
namespace Modelec {
PCA9685Controller::PCA9685Controller() : Node("pca9685_controller") {
if (wiringPiSetup() == -1) {
RCLCPP_ERROR(this->get_logger(), "WiringPi setup failed.");
return;
}
// Initialize I2C communication with PCA9685
fd = wiringPiI2CSetup(PCA9685_ADDR);
if (fd == -1) {
RCLCPP_ERROR(this->get_logger(), "Failed to initialize I2C communication with PCA9685.");
return;
}
initializePCA9685();
// Subscribe to topics for servo and solenoid control
servo_subscriber_ = this->create_subscription<modelec_interface::msg::PCA9685Servo>(
"servo_control", 10, [this](const modelec_interface::msg::PCA9685Servo::SharedPtr msg) {
if (active_servos.find(msg->pin) == active_servos.end()) {
RCLCPP_ERROR(this->get_logger(), "Servo on pin %d is not active.", msg->pin);
return;
}
this->setServoPWM(msg->pin, msg->angle);
});
clear_subscriber_ = this->create_subscription<std_msgs::msg::Empty>(
"clear_pca9685", 10, [this](const std_msgs::msg::Empty::SharedPtr) {
this->clearAllDevices();
});
add_servo_service_ = this->create_service<modelec_interface::srv::NewServoMotor>(
"add_servo", [this](const modelec_interface::srv::NewServoMotor::Request::SharedPtr request,
modelec_interface::srv::NewServoMotor::Response::SharedPtr response) {
if (active_servos.find(request->pin) == active_servos.end()) {
active_servos.insert(request->pin);
response->success = true;
} else {
response->success = false;
}
});
// Declare frequency as a parameter and configure the PCA9685
this->declare_parameter<int>("frequency", 50);
frequency = this->get_parameter("frequency").as_int();
configurePCA9685Frequency(frequency);
// Handle dynamic parameter changes
parameter_callback_handle_ = this->add_on_set_parameters_callback(
[this](const std::vector<rclcpp::Parameter> &parameters) {
return onParameterChange(parameters);
});
}
// Initialize PCA9685 in normal operation mode
void PCA9685Controller::initializePCA9685() {
writePCA9685Register(0x00, 0x00);
}
// Configure the PWM frequency
void PCA9685Controller::configurePCA9685Frequency(int frequency) {
int prescale = static_cast<int>(PCA9685_FREQUENCY / (PCA9685_RESOLUTION * frequency) - 1);
writePCA9685Register(0x00, 0x10); // Enter sleep mode
writePCA9685Register(0xFE, prescale); // Set prescale value
writePCA9685Register(0x00, 0x00); // Restart PCA9685
}
void PCA9685Controller::SetPCA9685PWM(int channel, int on_time, int off_time) {
wiringPiI2CWriteReg8(fd, 0x06 + 4 * channel, on_time & 0xFF);
wiringPiI2CWriteReg8(fd, 0x07 + 4 * channel, on_time >> 8);
wiringPiI2CWriteReg8(fd, 0x08 + 4 * channel, off_time & 0xFF);
wiringPiI2CWriteReg8(fd, 0x09 + 4 * channel, off_time >> 8);
}
// Set the servo angle on a specific channel
void PCA9685Controller::setServoPWM(int channel, double angle) {
int on_time = static_cast<int>(SERVO_MIN + (SERVO_MAX - SERVO_MIN) * angle / 180);
SetPCA9685PWM(channel, 0, on_time);
}
// Clear all channels (reset devices)
void PCA9685Controller::clearAllDevices() {
for (int channel = 0; channel < 16; ++channel) {
setServoPWM(channel, 0);
}
}
// Write to a specific PCA9685 register
void PCA9685Controller::writePCA9685Register(uint8_t reg, uint8_t value) {
if (wiringPiI2CWriteReg8(fd, reg, value) == -1) {
RCLCPP_ERROR(this->get_logger(), "Failed to write to register 0x%02X", reg);
}
}
// Handle dynamic parameter changes
rcl_interfaces::msg::SetParametersResult PCA9685Controller::onParameterChange(const std::vector<rclcpp::Parameter> &parameters) {
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
for (const auto &parameter : parameters) {
if (parameter.get_name() == "frequency") {
updatePCA9685();
}
}
return result;
}
// Update PCA9685 when frequency parameter changes
void PCA9685Controller::updatePCA9685() {
int new_frequency = this->get_parameter("frequency").as_int();
if (new_frequency != frequency) {
frequency = new_frequency;
configurePCA9685Frequency(frequency);
}
}
}
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::PCA9685Controller>());
rclcpp::shutdown();
return 0;
}

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src/modelec/src/solenoid_controller.cpp Normal file
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#include <modelec/solenoid_controller.hpp>
#include <wiringPi.h>
namespace Modelec {
SolenoidController::SolenoidController() : Node("solenoid_controller") {
wiringPiSetup();
solenoid_subscriber_ = this->create_subscription<modelec_interface::msg::Solenoid>(
"solenoid", 10, std::bind(&SolenoidController::activateSolenoid, this, std::placeholders::_1));
solenoid_add_subscriber_ = this->create_subscription<modelec_interface::msg::Solenoid>(
"add_solenoid", 10, std::bind(&SolenoidController::addSolenoidPin, this, std::placeholders::_1));
}
void SolenoidController::activateSolenoid(const modelec_interface::msg::Solenoid::SharedPtr msg) {
// Activate solenoid
if (solenoid_pin_.find(msg->pin) != solenoid_pin_.end()) {
digitalWrite(msg->pin, msg->state ? HIGH : LOW);
}
}
void SolenoidController::addSolenoidPin(const modelec_interface::msg::Solenoid::SharedPtr msg) {
solenoid_pin_.insert(msg->pin);
pinMode(msg->pin, OUTPUT);
}
}
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::SolenoidController>());
rclcpp::shutdown();
return 0;
}

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src/modelec/src/tirette_controller.cpp Normal file
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#include <modelec/tirette_controller.hpp>
#include <wiringPi.h>
namespace Modelec {
TiretteController::TiretteController() : Node("tirette_controller")
{
if (wiringPiSetupGpio() == -1)
{
RCLCPP_ERROR(this->get_logger(), "Failed to initialize GPIO.");
rclcpp::shutdown();
}
pinMode(GPIO_TIRETTE, INPUT);
pullUpDnControl(GPIO_TIRETTE, PUD_UP);
tirette_state = false;
// Initialize the service
service = this->create_service<modelec_interface::srv::Tirette>(
"tirette",
std::bind(&TiretteController::check_tirette, this, std::placeholders::_1, std::placeholders::_2));
// Initialize the publisher
publisher = this->create_publisher<std_msgs::msg::Bool>("tirette_state", 10);
// Initialize the timer
timer = this->create_wall_timer(std::chrono::milliseconds(REFRESH_RATE), [this]() {
bool lastState = tirette_state;
tirette_state = digitalRead(GPIO_TIRETTE) == LOW;
if (lastState == LOW && tirette_state == HIGH) {
auto msg = std_msgs::msg::Bool();
msg.data = tirette_state;
publisher->publish(msg);
}
});
}
void TiretteController::check_tirette(const std::shared_ptr<TiretteInterface::Request>, std::shared_ptr<TiretteInterface::Response> response)
{
response->state = tirette_state;
}
}
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::TiretteController>());
rclcpp::shutdown();
return 0;
}

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#include "modelec/usb_arduino_listener.hpp"
namespace Modelec {
USBListener::USBListener() : Node("usb_listener"), io(), port(io) {
// Declare and initialize parameters
bauds = this->declare_parameter<int>("bauds", BAUDS);
serial_port = this->declare_parameter<std::string>("serial_port", SERIAL_PORT);
max_message_len = this->declare_parameter<int>("max_message_len", MAX_MESSAGE_LEN);
// Initialize topic publisher
publisher = this->create_publisher<std_msgs::msg::String>("arduino_raw_data", 10);
subscriber = this->create_subscription<std_msgs::msg::String>(
"send_to_arduino", 10, [this](std_msgs::msg::String::SharedPtr msg) {
write_to_arduino(msg->data);
});
// Open usb port
if (!initializeConnection()) {
RCLCPP_ERROR(this->get_logger(), "Failed to initialize the serial port, shutting down.");
rclcpp::shutdown();
}
// Start reading periodically
timer = this->create_wall_timer(std::chrono::milliseconds(100), std::bind(&USBListener::readData, this));
// Set a callback for parameter updates
parameter_callback_handle_ = this->add_on_set_parameters_callback(
[this](const std::vector<rclcpp::Parameter> &parameters) {
return onParameterChange(parameters);
});
}
bool USBListener::initializeConnection() {
try {
// Try to open the serial port
port.open(serial_port);
port.set_option(boost::asio::serial_port_base::baud_rate(bauds));
RCLCPP_INFO(this->get_logger(), "Serial port '%s' opened successfully", serial_port.c_str());
return true;
} catch (boost::system::system_error &e) {
RCLCPP_ERROR(this->get_logger(), "Error opening serial port '%s': %s", serial_port.c_str(), e.what());
return false;
}
}
void USBListener::readData() {
if (!port.is_open()) {
return; // Port is not open, so exit
}
std::vector<char> data(max_message_len);
try {
// Attempt to read data from the serial port
size_t len = port.read_some(boost::asio::buffer(data.data(), max_message_len));
if (len > 0) {
// Prepare and publish the message
auto msg = std_msgs::msg::String();
msg.data = std::string(data.begin(), data.begin() + len);
publisher->publish(msg);
}
} catch (boost::system::system_error &e) {
RCLCPP_ERROR(this->get_logger(), "Error reading from serial port: %s", e.what());
}
}
USBListener::~USBListener() {
// Cleanup resources and close port
parameter_callback_handle_.reset();
if (port.is_open()) {
port.close();
}
}
rcl_interfaces::msg::SetParametersResult USBListener::onParameterChange(const std::vector<rclcpp::Parameter> &parameters) {
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
for (const auto &parameter : parameters) {
if (parameter.get_name() == "bauds" || parameter.get_name() == "serial_port" || parameter.get_name() == "max_message_len") {
updateConnection();
}
}
return result;
}
void USBListener::updateConnection() {
// Retrieve the current parameters
int new_bauds = this->get_parameter("bauds").as_int();
std::string new_serial_port = this->get_parameter("serial_port").as_string();
int new_max_message_len = this->get_parameter("max_message_len").as_int();
// Check if the parameters have changed
if (new_bauds == bauds && new_serial_port == serial_port && new_max_message_len == max_message_len) {
RCLCPP_DEBUG(this->get_logger(), "Connection parameters have not changed.");
return; // No changes, no need to update the connection
}
// Update the connection parameters
bauds = new_bauds;
serial_port = new_serial_port;
max_message_len = new_max_message_len;
// Reopen the connection with updated parameters
try {
if (port.is_open()) {
port.close(); // Close the current port before reopening
}
if (!initializeConnection()) {
RCLCPP_ERROR(this->get_logger(), "Failed to reopen the serial port, shutting down.");
rclcpp::shutdown(); // Graceful shutdown if port opening fails
}
} catch (boost::system::system_error &e) {
RCLCPP_ERROR(this->get_logger(), "Error during connection update: %s", e.what());
rclcpp::shutdown();
}
}
void USBListener::write_to_arduino(const std::string &data) {
try {
boost::asio::write(port, boost::asio::buffer(data));
} catch (boost::system::system_error &e) {
RCLCPP_ERROR(this->get_logger(), "Error writing to serial port: %s", e.what());
}
}
}
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::USBListener>());
rclcpp::shutdown();
return 0;
}

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src/modelec/src/usb_arduino_listener_newlib.cpp Normal file
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#include "modelec/usb_arduino_listener_newlib.hpp"
#include <wiringPi.h>
namespace Modelec {
USBListener::USBListener() : Node("usb_listener") {
// Declare and initialize parameters
bauds = this->declare_parameter<int>("bauds", BAUDS);
serial_port = this->declare_parameter<std::string>("serial_port", SERIAL_PORT);
max_message_len = this->declare_parameter<int>("max_message_len", MAX_MESSAGE_LEN);
// Initialize topic publisher
publisher = this->create_publisher<std_msgs::msg::String>("arduino_raw_data", 10);
subscriber = this->create_subscription<std_msgs::msg::String>(
"send_to_arduino", 10, [this](std_msgs::msg::String::SharedPtr msg) {
write_to_arduino(msg->data);
});
// Open usb port
if (!initializeConnection()) {
RCLCPP_ERROR(this->get_logger(), "Failed to initialize the serial port, shutting down.");
rclcpp::shutdown();
}
// Start reading periodically
timer = this->create_wall_timer(std::chrono::milliseconds(100), std::bind(&USBListener::readData, this));
// Set a callback for parameter updates
parameter_callback_handle_ = this->add_on_set_parameters_callback(
[this](const std::vector<rclcpp::Parameter> &parameters) {
return onParameterChange(parameters);
});
}
bool USBListener::initializeConnection() {
try {
// Try to open the serial port
fd = serialOpen(serial_port.c_str(), bauds);
if (fd < 0) {
RCLCPP_ERROR(this->get_logger(), "Error opening serial port '%s'", serial_port.c_str());
return false;
}
if (wiringPiSetup() == -1) {
RCLCPP_ERROR(this->get_logger(), "Error setting up wiringPi");
return false;
}
RCLCPP_INFO(this->get_logger(), "Serial port '%s' opened successfully", serial_port.c_str());
return true;
} catch (std::exception &e) {
RCLCPP_ERROR(this->get_logger(), "Error opening serial port '%s': %s", serial_port.c_str(), e.what());
return false;
}
}
void USBListener::readData() {
std::vector<char> data(max_message_len);
// Read data from the serial port
while (serialDataAvail(fd) > 0) {
data.push_back(serialGetchar(fd));
}
// Publish the received data
std_msgs::msg::String msg;
msg.data = std::string(data.begin(), data.end());
publisher->publish(msg);
RCLCPP_DEBUG(this->get_logger(), "Received data: %s", data.data());
}
USBListener::~USBListener() {
// Cleanup resources and close port
parameter_callback_handle_.reset();
serialClose(fd);
}
rcl_interfaces::msg::SetParametersResult USBListener::onParameterChange(const std::vector<rclcpp::Parameter> &parameters) {
rcl_interfaces::msg::SetParametersResult result;
result.successful = true;
for (const auto &parameter : parameters) {
if (parameter.get_name() == "bauds" || parameter.get_name() == "serial_port" || parameter.get_name() == "max_message_len") {
updateConnection();
}
}
return result;
}
void USBListener::updateConnection() {
// Retrieve the current parameters
int new_bauds = this->get_parameter("bauds").as_int();
std::string new_serial_port = this->get_parameter("serial_port").as_string();
int new_max_message_len = this->get_parameter("max_message_len").as_int();
// Check if the parameters have changed
if (new_bauds == bauds && new_serial_port == serial_port && new_max_message_len == max_message_len) {
RCLCPP_DEBUG(this->get_logger(), "Connection parameters have not changed.");
return; // No changes, no need to update the connection
}
// Update the connection parameters
bauds = new_bauds;
serial_port = new_serial_port;
max_message_len = new_max_message_len;
// Reopen the connection with updated parameters
try {
if (port.is_open()) {
port.close(); // Close the current port before reopening
}
if (!initializeConnection()) {
RCLCPP_ERROR(this->get_logger(), "Failed to reopen the serial port, shutting down.");
rclcpp::shutdown(); // Graceful shutdown if port opening fails
}
} catch (boost::system::system_error &e) {
RCLCPP_ERROR(this->get_logger(), "Error during connection update: %s", e.what());
rclcpp::shutdown();
}
}
void USBListener::write_to_arduino(const std::string &data) {
try {
boost::asio::write(port, boost::asio::buffer(data));
} catch (boost::system::system_error &e) {
RCLCPP_ERROR(this->get_logger(), "Error writing to serial port: %s", e.what());
}
}
}
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::USBListener>());
rclcpp::shutdown();
return 0;
}

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src/modelec/src/usb_arduino_logic_processor.cpp Normal file
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#include "modelec/usb_aruido_logic_processor.hpp"
#include <vector>
using namespace Modelec;
LogicProcessor::LogicProcessor() : Node("usb_logic_processor") {
subscriber_ = this->create_subscription<std_msgs::msg::String>(
"arduino_raw_data", 10, [this](std_msgs::msg::String::SharedPtr msg) {
processData(msg->data);
});
publisher_ = this->create_publisher<modelec_interface::msg::ArduinoData>("arduino_processed_data", 10);
}
void LogicProcessor::processData(const std::string &data) {
auto processed_data = "Processed: " + data;
auto msg = modelec_interface::msg::ArduinoData();
std::vector<std::string> d = split(data, ':');
if (d.size() == 3) {
msg.x = std::stof(d[0]);
msg.y = std::stof(d[1]);
msg.theta = std::stof(d[2]);
}
else {
msg.x = 0;
msg.y = 0;
msg.theta = 0;
}
publisher_->publish(msg);
}
int main(int argc, char ** argv)
{
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::LogicProcessor>());
rclcpp::shutdown();
return 0;
}

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src/modelec_gui/CMakeLists.txt Normal file
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@@ -0,0 +1,49 @@
cmake_minimum_required(VERSION 3.8)
project(modelec_gui)
# Enable all warnings
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
set(CMAKE_AUTOMOC ON)
# Find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(Qt5 COMPONENTS
Core
Gui
Widgets
REQUIRED)
# Add the executable
add_executable(modelec_gui src/modelec_gui.cpp src/main.cpp include/modelec_gui/modelec_gui.hpp)
ament_target_dependencies(modelec_gui
rclcpp
std_msgs
)
target_link_libraries(modelec_gui
Qt5::Core
Qt5::Gui
Qt5::Widgets
)
target_include_directories(modelec_gui PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Install targets
install(TARGETS modelec_gui
DESTINATION lib/${PROJECT_NAME}
)
# Install include files
install(DIRECTORY include/
DESTINATION include/
)
# Package finalization
ament_package()

674
src/modelec_gui/LICENSE Normal file
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@@ -0,0 +1,674 @@
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
The GNU General Public License is a free, copyleft license for
software and other kinds of works.
The licenses for most software and other practical works are designed
to take away your freedom to share and change the works. By contrast,
the GNU General Public License is intended to guarantee your freedom to
share and change all versions of a program--to make sure it remains free
software for all its users. We, the Free Software Foundation, use the
GNU General Public License for most of our software; it applies also to
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When we speak of free software, we are referring to freedom, not
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Nothing in this License shall be construed as excluding or limiting
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Notwithstanding any other provision of this License, you have
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14. Revised Versions of this License.
The Free Software Foundation may publish revised and/or new versions of
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Each version is given a distinguishing version number. If the
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version or of any later version published by the Free Software
Foundation. If the Program does not specify a version number of the
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If the Program specifies that a proxy can decide which future
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Later license versions may give you additional or different
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15. Disclaimer of Warranty.
THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY
APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT
HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM "AS IS" WITHOUT WARRANTY
OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
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IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING
WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS
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GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE
USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF
DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD
PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS),
EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF
SUCH DAMAGES.
17. Interpretation of Sections 15 and 16.
If the disclaimer of warranty and limitation of liability provided
above cannot be given local legal effect according to their terms,
reviewing courts shall apply local law that most closely approximates
an absolute waiver of all civil liability in connection with the
Program, unless a warranty or assumption of liability accompanies a
copy of the Program in return for a fee.
END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.

26
src/modelec_gui/include/modelec_gui/modelec_gui.hpp Normal file
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@@ -0,0 +1,26 @@
#pragma once
#include <QApplication>
#include <QWidget>
#include <QPushButton>
#include <QLineEdit>
#include <QVBoxLayout>
#include <rclcpp/rclcpp.hpp>
#include <std_msgs/msg/string.hpp>
class ROS2QtGUI : public QWidget {
Q_OBJECT
public:
explicit ROS2QtGUI(std::shared_ptr<rclcpp::Node> node, QWidget *parent = nullptr);
~ROS2QtGUI() override; // Explicitly declare destructor
private slots:
void onSendClicked();
private:
QLineEdit *textBox_;
QPushButton *sendButton_;
std::shared_ptr<rclcpp::Node> node_;
rclcpp::Publisher<std_msgs::msg::String>::SharedPtr publisher_;
};

22
src/modelec_gui/package.xml Normal file
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<?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>modelec_gui</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="contact@modelec.club">modelec</maintainer>
<license>GPL-3.0-only</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>modelec_interface</depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

17
src/modelec_gui/src/main.cpp Normal file
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#include "modelec_gui/modelec_gui.hpp"
int main(int argc, char *argv[]) {
// Initialize ROS 2
rclcpp::init(argc, argv);
auto node = std::make_shared<rclcpp::Node>("ros2_qt_gui_node");
// Initialize Qt
QApplication app(argc, argv);
ROS2QtGUI gui(node);
gui.setWindowTitle("ROS 2 Qt GUI");
gui.resize(400, 200);
gui.show();
// Run the Qt event loop
return app.exec();
}

25
src/modelec_gui/src/modelec_gui.cpp Normal file
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@@ -0,0 +1,25 @@
#include "modelec_gui/modelec_gui.hpp"
ROS2QtGUI::ROS2QtGUI(std::shared_ptr<rclcpp::Node> node, QWidget *parent)
: QWidget(parent), node_(node) {
publisher_ = node_->create_publisher<std_msgs::msg::String>("ui_topic", 10);
QVBoxLayout *layout = new QVBoxLayout(this);
textBox_ = new QLineEdit(this);
sendButton_ = new QPushButton("Send Message", this);
layout->addWidget(textBox_);
layout->addWidget(sendButton_);
setLayout(layout);
connect(sendButton_, &QPushButton::clicked, this, &ROS2QtGUI::onSendClicked);
}
ROS2QtGUI::~ROS2QtGUI() = default;
void ROS2QtGUI::onSendClicked() {
std_msgs::msg::String message;
message.data = textBox_->text().toStdString();
publisher_->publish(message);
RCLCPP_INFO(node_->get_logger(), "Published: '%s'", message.data.c_str());
}

37
src/modelec_interface/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(modelec_interface)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)
rosidl_generate_interfaces(${PROJECT_NAME}
"msg/ArduinoData.msg"
"msg/PCA9685Servo.msg"
"msg/ServoMoteur.msg"
"msg/ServoMode.msg"
"msg/Solenoid.msg"
"srv/NewServoMotor.srv"
"srv/NewSolenoid.srv"
"srv/Tirette.srv"
DEPENDENCIES std_msgs
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
ament_package()

674
src/modelec_interface/LICENSE Normal file
View File

@@ -0,0 +1,674 @@
GNU GENERAL PUBLIC LICENSE
Version 3, 29 June 2007
Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
Everyone is permitted to copy and distribute verbatim copies
of this license document, but changing it is not allowed.
Preamble
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The licenses for most software and other practical works are designed
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When we speak of free software, we are referring to freedom, not
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To protect your rights, we need to prevent others from denying you
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Nothing in this License shall be construed as excluding or limiting
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Notwithstanding any other provision of this License, you have
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END OF TERMS AND CONDITIONS
How to Apply These Terms to Your New Programs
If you develop a new program, and you want it to be of the greatest
possible use to the public, the best way to achieve this is to make it
free software which everyone can redistribute and change under these terms.
To do so, attach the following notices to the program. It is safest
to attach them to the start of each source file to most effectively
state the exclusion of warranty; and each file should have at least
the "copyright" line and a pointer to where the full notice is found.
<one line to give the program's name and a brief idea of what it does.>
Copyright (C) <year> <name of author>
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <https://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<https://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<https://www.gnu.org/licenses/why-not-lgpl.html>.

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src/modelec_interface/msg/ArduinoData.msg Normal file
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int64 x
int64 y
int64 theta

2
src/modelec_interface/msg/PCA9685Servo.msg Normal file
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uint8 pin
int64 angle

11
src/modelec_interface/msg/ServoMode.msg Normal file
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uint8 PINCE_CLOSED=0
uint8 PINCE_MIDDLE=1
uint8 PINCE_OPEN=2
uint8 PINCE_FULLY_OPEN=3
uint8 ARM_BOTTOM=4
uint8 ARM_MIDDLE=5
uint8 ARM_TOP=6
uint8 pin
uint8 mode
bool is_arm

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src/modelec_interface/msg/ServoMoteur.msg Normal file
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int64 pin
bool state

2
src/modelec_interface/msg/Solenoid.msg Normal file
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int64 pin
bool state

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src/modelec_interface/package.xml Normal file
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<?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>modelec_interface</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="contact@modelec.club">modelec</maintainer>
<license>GPL-3.0-only</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>rosidl_default_generators</buildtool_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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src/modelec_interface/srv/NewServoMotor.srv Normal file
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int64 pin
---
bool success

3
src/modelec_interface/srv/NewSolenoid.srv Normal file
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int64 pin
---
bool success

2
src/modelec_interface/srv/Tirette.srv Normal file
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---
bool state