commit b3ac7fcd90dab80e4894c77b5752cc9cbc25afb8 Author: acki Date: Tue Dec 3 22:39:55 2024 -0500 Initial commit diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..eb21109 --- /dev/null +++ b/.gitignore @@ -0,0 +1,107 @@ +# 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 \ No newline at end of file diff --git a/src/modelec/CMakeLists.txt b/src/modelec/CMakeLists.txt new file mode 100644 index 0000000..72770ca --- /dev/null +++ b/src/modelec/CMakeLists.txt @@ -0,0 +1,120 @@ +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 + $ + $ +) + +# 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 + $ + $ +) + +# 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 + $ + $ +) + +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 + $ + $ +) + +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 + $ + $ +) + +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 + $ + $ +) + +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 + $ + $ +) + +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 + $ + $ +) + +# 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() diff --git a/src/modelec/LICENSE b/src/modelec/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/src/modelec/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + 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 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If not, see . + +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: + + Copyright (C) + 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 +. + + 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 +. diff --git a/src/modelec/include/modelec/arm_controller.hpp b/src/modelec/include/modelec/arm_controller.hpp new file mode 100644 index 0000000..cd86746 --- /dev/null +++ b/src/modelec/include/modelec/arm_controller.hpp @@ -0,0 +1,60 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include +#include + +#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 angles; + }; + + struct Arm { + std::map> pins; + int mode; + }; + + public: + ArmController(); + private: + rclcpp::Publisher::SharedPtr publisher_; + rclcpp::Subscription::SharedPtr subscription_; + + std::unordered_map 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::SharedPtr client_; + + void ControlPince(const Mode::SharedPtr msg); + void ControlArm(const Mode::SharedPtr msg); + }; +} \ No newline at end of file diff --git a/src/modelec/include/modelec/gamecontroller_listener.hpp b/src/modelec/include/modelec/gamecontroller_listener.hpp new file mode 100644 index 0000000..a9b38ea --- /dev/null +++ b/src/modelec/include/modelec/gamecontroller_listener.hpp @@ -0,0 +1,37 @@ +#pragma once + +#include +#include +#include +#include +#include + +namespace Modelec { + class ControllerListener : public rclcpp::Node + { + using ServoMode = modelec_interface::msg::ServoMode; + + std::array 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::SharedPtr subscription_; + rclcpp::Publisher::SharedPtr servo_publisher_; + rclcpp::Publisher::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; + }; +} diff --git a/src/modelec/include/modelec/move_controller.hpp b/src/modelec/include/modelec/move_controller.hpp new file mode 100644 index 0000000..9209916 --- /dev/null +++ b/src/modelec/include/modelec/move_controller.hpp @@ -0,0 +1,27 @@ +#pragma once + +#include +#include + +#define REFRESH_RATE 100 + +namespace Modelec { + class MoveController : public rclcpp::Node { + public: + MoveController(); + + private: + rclcpp::TimerBase::SharedPtr timer; + rclcpp::Publisher::SharedPtr publisher; + rclcpp::Subscription::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); + }; +} \ No newline at end of file diff --git a/src/modelec/include/modelec/pca9685_controller.hpp b/src/modelec/include/modelec/pca9685_controller.hpp new file mode 100644 index 0000000..d85a052 --- /dev/null +++ b/src/modelec/include/modelec/pca9685_controller.hpp @@ -0,0 +1,48 @@ +#pragma once + +#include +#include +#include +#include + +#include +#include +#include + +#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::SharedPtr servo_subscriber_; + rclcpp::Subscription::SharedPtr clear_subscriber_; + int frequency = 50; // Default PWM frequency (Hz) + + std::unordered_set active_servos; + + // service to add a servo + rclcpp::Service::SharedPtr add_servo_service_; + + OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_; + rcl_interfaces::msg::SetParametersResult onParameterChange(const std::vector ¶meters); + 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); + }; +} diff --git a/src/modelec/include/modelec/solenoid_controller.hpp b/src/modelec/include/modelec/solenoid_controller.hpp new file mode 100644 index 0000000..87449fb --- /dev/null +++ b/src/modelec/include/modelec/solenoid_controller.hpp @@ -0,0 +1,23 @@ +#pragma once + +#include +#include +#include +#include + +namespace Modelec { + class SolenoidController : public rclcpp::Node { + public: + SolenoidController(); + private: + std::unordered_set solenoid_pin_; + + rclcpp::Subscription::SharedPtr solenoid_subscriber_; + + rclcpp::Subscription::SharedPtr solenoid_add_subscriber_; + + void activateSolenoid(const modelec_interface::msg::Solenoid::SharedPtr msg); + + void addSolenoidPin(const modelec_interface::msg::Solenoid::SharedPtr msg); + }; +} diff --git a/src/modelec/include/modelec/tirette_controller.hpp b/src/modelec/include/modelec/tirette_controller.hpp new file mode 100644 index 0000000..7032bfc --- /dev/null +++ b/src/modelec/include/modelec/tirette_controller.hpp @@ -0,0 +1,26 @@ +#pragma once + +#include +#include +#include +#include + +#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::SharedPtr service; + rclcpp::TimerBase::SharedPtr timer; + rclcpp::Publisher::SharedPtr publisher; + bool tirette_state; + + void check_tirette(const std::shared_ptr request, std::shared_ptr response); + }; +} diff --git a/src/modelec/include/modelec/usb_arduino_listener.hpp b/src/modelec/include/modelec/usb_arduino_listener.hpp new file mode 100644 index 0000000..9c807f4 --- /dev/null +++ b/src/modelec/include/modelec/usb_arduino_listener.hpp @@ -0,0 +1,40 @@ +#pragma once + +#include +#include +#include + +#define SERIAL_PORT "/dev/pts/6" +#define MAX_MESSAGE_LEN 1048 +#define BAUDS 115200 //vitesse des donnĂ©es (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::SharedPtr publisher; + rclcpp::Subscription::SharedPtr subscriber; + rclcpp::TimerBase::SharedPtr timer; + + void readData(); + + OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_; + rcl_interfaces::msg::SetParametersResult onParameterChange(const std::vector ¶meters); + void updateConnection(); + + void write_to_arduino(const std::string &data); + + bool initializeConnection(); +}; + +} \ No newline at end of file diff --git a/src/modelec/include/modelec/usb_arduino_listener_newlib.hpp b/src/modelec/include/modelec/usb_arduino_listener_newlib.hpp new file mode 100644 index 0000000..be8a870 --- /dev/null +++ b/src/modelec/include/modelec/usb_arduino_listener_newlib.hpp @@ -0,0 +1,39 @@ +#pragma once + +#include +#include +#include + +#define SERIAL_PORT "/dev/pts/6" +#define MAX_MESSAGE_LEN 1048 +#define BAUDS 115200 //vitesse des donnĂ©es (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::SharedPtr publisher; + rclcpp::Subscription::SharedPtr subscriber; + rclcpp::TimerBase::SharedPtr timer; + + void readData(); + + OnSetParametersCallbackHandle::SharedPtr parameter_callback_handle_; + rcl_interfaces::msg::SetParametersResult onParameterChange(const std::vector ¶meters); + void updateConnection(); + + void write_to_arduino(const std::string &data); + + bool initializeConnection(); +}; + +} \ No newline at end of file diff --git a/src/modelec/include/modelec/usb_aruido_logic_processor.hpp b/src/modelec/include/modelec/usb_aruido_logic_processor.hpp new file mode 100644 index 0000000..370c48a --- /dev/null +++ b/src/modelec/include/modelec/usb_aruido_logic_processor.hpp @@ -0,0 +1,18 @@ +#pragma once + +#include +#include +#include +#include + +namespace Modelec { + class LogicProcessor : public rclcpp::Node { + public: + LogicProcessor(); + private: + void processData(const std::string &data); + + rclcpp::Subscription::SharedPtr subscriber_; + rclcpp::Publisher::SharedPtr publisher_; + }; +} \ No newline at end of file diff --git a/src/modelec/include/modelec/utils.hpp b/src/modelec/include/modelec/utils.hpp new file mode 100644 index 0000000..c21df84 --- /dev/null +++ b/src/modelec/include/modelec/utils.hpp @@ -0,0 +1,47 @@ +#pragma once + +#include +#include +#include + +namespace Modelec { + #define PI 3.14159265358979323846 + + inline std::vector split(const std::string &s, char delim) { + std::vector 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 &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 ::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)); + } +} diff --git a/src/modelec/launch/modelec.launch.yml b/src/modelec/launch/modelec.launch.yml new file mode 100644 index 0000000..86b2ff7 --- /dev/null +++ b/src/modelec/launch/modelec.launch.yml @@ -0,0 +1,26 @@ +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' diff --git a/src/modelec/launch/modelec_gamecontroller.launch.yml b/src/modelec/launch/modelec_gamecontroller.launch.yml new file mode 100644 index 0000000..5e90c3a --- /dev/null +++ b/src/modelec/launch/modelec_gamecontroller.launch.yml @@ -0,0 +1,36 @@ +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' diff --git a/src/modelec/package.xml b/src/modelec/package.xml new file mode 100644 index 0000000..d5f4a3f --- /dev/null +++ b/src/modelec/package.xml @@ -0,0 +1,26 @@ + + + + modelec + 0.0.0 + TODO: Package description + modelec + GPL-3.0-only + + ament_cmake + + modelec_interface + rclcpp + std_msgs + + boost + boost + ros2launch + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/modelec/src/arm_controller.cpp b/src/modelec/src/arm_controller.cpp new file mode 100644 index 0000000..966478d --- /dev/null +++ b/src/modelec/src/arm_controller.cpp @@ -0,0 +1,100 @@ +#include "modelec_interface/msg/servo_mode.hpp" +#include + +namespace Modelec { + ArmController::ArmController() : Node("pince_controller") { + publisher_ = this->create_publisher("servo_control", 10); + client_ = this->create_client("add_servo"); + + for (int pin : {PINCE_1_PIN, PINCE_2_PIN, PINCE_3_PIN}) { + auto request = std::make_shared(); + 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( + "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()); + rclcpp::shutdown(); + return 0; +} diff --git a/src/modelec/src/gamecontroller_listener.cpp b/src/modelec/src/gamecontroller_listener.cpp new file mode 100644 index 0000000..bf066d7 --- /dev/null +++ b/src/modelec/src/gamecontroller_listener.cpp @@ -0,0 +1,125 @@ +#include "modelec/gamecontroller_listener.hpp" + +namespace Modelec { + ControllerListener::ControllerListener() : Node("controller_listener") + { + // Subscribe to the 'joy' topic + subscription_ = this->create_subscription( + "joy", 10, + std::bind(&ControllerListener::joy_callback, this, std::placeholders::_1)); + + servo_publisher_ = this->create_publisher("arm_control", 10); + + arduino_publisher_ = this->create_publisher("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()); + rclcpp::shutdown(); + return 0; +} diff --git a/src/modelec/src/move_controller.cpp b/src/modelec/src/move_controller.cpp new file mode 100644 index 0000000..8ae3be9 --- /dev/null +++ b/src/modelec/src/move_controller.cpp @@ -0,0 +1,70 @@ +#include + +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("robot_position", 10); + + // Initialize the subscriber + subscriber = this->create_subscription( + "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()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/src/modelec/src/pca9685_controller.cpp b/src/modelec/src/pca9685_controller.cpp new file mode 100644 index 0000000..8ad06c1 --- /dev/null +++ b/src/modelec/src/pca9685_controller.cpp @@ -0,0 +1,127 @@ +#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( + "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( + "clear_pca9685", 10, [this](const std_msgs::msg::Empty::SharedPtr) { + this->clearAllDevices(); + }); + + add_servo_service_ = this->create_service( + "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("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 ¶meters) { + 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(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(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 ¶meters) { + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + + for (const auto ¶meter : 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()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/src/modelec/src/solenoid_controller.cpp b/src/modelec/src/solenoid_controller.cpp new file mode 100644 index 0000000..fa3a563 --- /dev/null +++ b/src/modelec/src/solenoid_controller.cpp @@ -0,0 +1,34 @@ +#include +#include + +namespace Modelec { + SolenoidController::SolenoidController() : Node("solenoid_controller") { + wiringPiSetup(); + + solenoid_subscriber_ = this->create_subscription( + "solenoid", 10, std::bind(&SolenoidController::activateSolenoid, this, std::placeholders::_1)); + + solenoid_add_subscriber_ = this->create_subscription( + "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()); + rclcpp::shutdown(); + return 0; + +} diff --git a/src/modelec/src/tirette_controller.cpp b/src/modelec/src/tirette_controller.cpp new file mode 100644 index 0000000..f5cee83 --- /dev/null +++ b/src/modelec/src/tirette_controller.cpp @@ -0,0 +1,52 @@ +#include +#include + +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( + "tirette", + std::bind(&TiretteController::check_tirette, this, std::placeholders::_1, std::placeholders::_2)); + + // Initialize the publisher + publisher = this->create_publisher("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, std::shared_ptr response) + { + response->state = tirette_state; + } +} + +int main(int argc, char **argv) +{ + rclcpp::init(argc, argv); + rclcpp::spin(std::make_shared()); + rclcpp::shutdown(); + return 0; +} diff --git a/src/modelec/src/usb_arduino_listener.cpp b/src/modelec/src/usb_arduino_listener.cpp new file mode 100644 index 0000000..954d7bf --- /dev/null +++ b/src/modelec/src/usb_arduino_listener.cpp @@ -0,0 +1,137 @@ +#include "modelec/usb_arduino_listener.hpp" + +namespace Modelec { + USBListener::USBListener() : Node("usb_listener"), io(), port(io) { + + // Declare and initialize parameters + bauds = this->declare_parameter("bauds", BAUDS); + serial_port = this->declare_parameter("serial_port", SERIAL_PORT); + max_message_len = this->declare_parameter("max_message_len", MAX_MESSAGE_LEN); + + // Initialize topic publisher + publisher = this->create_publisher("arduino_raw_data", 10); + + subscriber = this->create_subscription( + "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 ¶meters) { + 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 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 ¶meters) { + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + + for (const auto ¶meter : 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()); + rclcpp::shutdown(); + return 0; +} diff --git a/src/modelec/src/usb_arduino_listener_newlib.cpp b/src/modelec/src/usb_arduino_listener_newlib.cpp new file mode 100644 index 0000000..e6777c5 --- /dev/null +++ b/src/modelec/src/usb_arduino_listener_newlib.cpp @@ -0,0 +1,141 @@ +#include "modelec/usb_arduino_listener_newlib.hpp" +#include + +namespace Modelec { + USBListener::USBListener() : Node("usb_listener") { + + // Declare and initialize parameters + bauds = this->declare_parameter("bauds", BAUDS); + serial_port = this->declare_parameter("serial_port", SERIAL_PORT); + max_message_len = this->declare_parameter("max_message_len", MAX_MESSAGE_LEN); + + // Initialize topic publisher + publisher = this->create_publisher("arduino_raw_data", 10); + + subscriber = this->create_subscription( + "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 ¶meters) { + 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 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 ¶meters) { + rcl_interfaces::msg::SetParametersResult result; + result.successful = true; + + for (const auto ¶meter : 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()); + rclcpp::shutdown(); + return 0; +} diff --git a/src/modelec/src/usb_arduino_logic_processor.cpp b/src/modelec/src/usb_arduino_logic_processor.cpp new file mode 100644 index 0000000..bdbafe7 --- /dev/null +++ b/src/modelec/src/usb_arduino_logic_processor.cpp @@ -0,0 +1,39 @@ +#include "modelec/usb_aruido_logic_processor.hpp" +#include + +using namespace Modelec; + +LogicProcessor::LogicProcessor() : Node("usb_logic_processor") { + subscriber_ = this->create_subscription( + "arduino_raw_data", 10, [this](std_msgs::msg::String::SharedPtr msg) { + processData(msg->data); + }); + publisher_ = this->create_publisher("arduino_processed_data", 10); +} + +void LogicProcessor::processData(const std::string &data) { + auto processed_data = "Processed: " + data; + auto msg = modelec_interface::msg::ArduinoData(); + std::vector 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()); + rclcpp::shutdown(); + return 0; +} \ No newline at end of file diff --git a/src/modelec_gui/CMakeLists.txt b/src/modelec_gui/CMakeLists.txt new file mode 100644 index 0000000..6fbc064 --- /dev/null +++ b/src/modelec_gui/CMakeLists.txt @@ -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 + $ + $ +) + +# Install targets +install(TARGETS modelec_gui + DESTINATION lib/${PROJECT_NAME} +) + +# Install include files +install(DIRECTORY include/ + DESTINATION include/ +) + +# Package finalization +ament_package() diff --git a/src/modelec_gui/LICENSE b/src/modelec_gui/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/src/modelec_gui/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + 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. 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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. + + + Copyright (C) + + 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 . + +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: + + Copyright (C) + 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 +. + + 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 +. diff --git a/src/modelec_gui/include/modelec_gui/modelec_gui.hpp b/src/modelec_gui/include/modelec_gui/modelec_gui.hpp new file mode 100644 index 0000000..c7823fd --- /dev/null +++ b/src/modelec_gui/include/modelec_gui/modelec_gui.hpp @@ -0,0 +1,26 @@ +#pragma once + +#include +#include +#include +#include +#include +#include +#include + +class ROS2QtGUI : public QWidget { + Q_OBJECT + +public: + explicit ROS2QtGUI(std::shared_ptr node, QWidget *parent = nullptr); + ~ROS2QtGUI() override; // Explicitly declare destructor + +private slots: + void onSendClicked(); + +private: + QLineEdit *textBox_; + QPushButton *sendButton_; + std::shared_ptr node_; + rclcpp::Publisher::SharedPtr publisher_; +}; diff --git a/src/modelec_gui/package.xml b/src/modelec_gui/package.xml new file mode 100644 index 0000000..710723f --- /dev/null +++ b/src/modelec_gui/package.xml @@ -0,0 +1,22 @@ + + + + modelec_gui + 0.0.0 + TODO: Package description + modelec + GPL-3.0-only + + ament_cmake + + modelec_interface + rclcpp + std_msgs + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/modelec_gui/src/main.cpp b/src/modelec_gui/src/main.cpp new file mode 100644 index 0000000..4e100eb --- /dev/null +++ b/src/modelec_gui/src/main.cpp @@ -0,0 +1,17 @@ +#include "modelec_gui/modelec_gui.hpp" + +int main(int argc, char *argv[]) { + // Initialize ROS 2 + rclcpp::init(argc, argv); + auto node = std::make_shared("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(); +} \ No newline at end of file diff --git a/src/modelec_gui/src/modelec_gui.cpp b/src/modelec_gui/src/modelec_gui.cpp new file mode 100644 index 0000000..3265c07 --- /dev/null +++ b/src/modelec_gui/src/modelec_gui.cpp @@ -0,0 +1,25 @@ +#include "modelec_gui/modelec_gui.hpp" + +ROS2QtGUI::ROS2QtGUI(std::shared_ptr node, QWidget *parent) + : QWidget(parent), node_(node) { + publisher_ = node_->create_publisher("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()); +} \ No newline at end of file diff --git a/src/modelec_interface/CMakeLists.txt b/src/modelec_interface/CMakeLists.txt new file mode 100644 index 0000000..461f38b --- /dev/null +++ b/src/modelec_interface/CMakeLists.txt @@ -0,0 +1,37 @@ +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() diff --git a/src/modelec_interface/LICENSE b/src/modelec_interface/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/src/modelec_interface/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + 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. 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If not, see . + +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: + + Copyright (C) + 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 +. + + 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 +. diff --git a/src/modelec_interface/msg/ArduinoData.msg b/src/modelec_interface/msg/ArduinoData.msg new file mode 100644 index 0000000..e35bc3a --- /dev/null +++ b/src/modelec_interface/msg/ArduinoData.msg @@ -0,0 +1,3 @@ +int64 x +int64 y +int64 theta \ No newline at end of file diff --git a/src/modelec_interface/msg/PCA9685Servo.msg b/src/modelec_interface/msg/PCA9685Servo.msg new file mode 100644 index 0000000..5e93de7 --- /dev/null +++ b/src/modelec_interface/msg/PCA9685Servo.msg @@ -0,0 +1,2 @@ +uint8 pin +int64 angle \ No newline at end of file diff --git a/src/modelec_interface/msg/ServoMode.msg b/src/modelec_interface/msg/ServoMode.msg new file mode 100644 index 0000000..85678d2 --- /dev/null +++ b/src/modelec_interface/msg/ServoMode.msg @@ -0,0 +1,11 @@ +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 diff --git a/src/modelec_interface/msg/ServoMoteur.msg b/src/modelec_interface/msg/ServoMoteur.msg new file mode 100644 index 0000000..7bf5977 --- /dev/null +++ b/src/modelec_interface/msg/ServoMoteur.msg @@ -0,0 +1,2 @@ +int64 pin +bool state \ No newline at end of file diff --git a/src/modelec_interface/msg/Solenoid.msg b/src/modelec_interface/msg/Solenoid.msg new file mode 100644 index 0000000..7bf5977 --- /dev/null +++ b/src/modelec_interface/msg/Solenoid.msg @@ -0,0 +1,2 @@ +int64 pin +bool state \ No newline at end of file diff --git a/src/modelec_interface/package.xml b/src/modelec_interface/package.xml new file mode 100644 index 0000000..3f8059b --- /dev/null +++ b/src/modelec_interface/package.xml @@ -0,0 +1,22 @@ + + + + modelec_interface + 0.0.0 + TODO: Package description + modelec + GPL-3.0-only + + ament_cmake + + rosidl_default_generators + rosidl_default_runtime + rosidl_interface_packages + + ament_lint_auto + ament_lint_common + + + ament_cmake + + diff --git a/src/modelec_interface/srv/NewServoMotor.srv b/src/modelec_interface/srv/NewServoMotor.srv new file mode 100644 index 0000000..347d6c6 --- /dev/null +++ b/src/modelec_interface/srv/NewServoMotor.srv @@ -0,0 +1,3 @@ +int64 pin +--- +bool success \ No newline at end of file diff --git a/src/modelec_interface/srv/NewSolenoid.srv b/src/modelec_interface/srv/NewSolenoid.srv new file mode 100644 index 0000000..347d6c6 --- /dev/null +++ b/src/modelec_interface/srv/NewSolenoid.srv @@ -0,0 +1,3 @@ +int64 pin +--- +bool success \ No newline at end of file diff --git a/src/modelec_interface/srv/Tirette.srv b/src/modelec_interface/srv/Tirette.srv new file mode 100644 index 0000000..9fb4fe7 --- /dev/null +++ b/src/modelec_interface/srv/Tirette.srv @@ -0,0 +1,2 @@ +--- +bool state \ No newline at end of file