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Remove WiringPi submodule properly

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acki
2025-06-17 11:29:07 -04:00
parent 84147b307f
commit eef758ef28
23 changed files with 1 additions and 2187 deletions
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3
.gitmodules vendored
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@@ -2,6 +2,3 @@
path = src/rplidar_ros path = src/rplidar_ros
url = https://github.com/Slamtec/rplidar_ros url = https://github.com/Slamtec/rplidar_ros
branch = ros2 branch = ros2
[submodule "WiringPi"]
path = WiringPi
url = https://github.com/WiringPi/WiringPi.git

1
WiringPi

Submodule WiringPi deleted from ee3e2a9fb0

2
build.sh
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@@ -1,3 +1,3 @@
MAKEFLAGS="-j2" colcon build --executor sequential --parallel-workers 1 --cmake-args -DCMAKE_BUILD_TYPE=Release colcon build --symlink-install --cmake-args -DCMAKE_EXPORT_COMPILE_COMMANDS=ON
source install/setup.bash source install/setup.bash

28
src/modelec_api/CMakeLists.txt
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@@ -1,28 +0,0 @@
cmake_minimum_required(VERSION 3.8)
project(modelec_api)
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(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(modelec_interfaces REQUIRED)
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_api/LICENSE
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@@ -1,674 +0,0 @@
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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>.

25
src/modelec_api/package.xml
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@@ -1,25 +0,0 @@
<?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_api</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_interfaces</depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>sensor_msgs</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>

11
src/modelec_com/CMakeLists.txt
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@@ -16,7 +16,6 @@ find_package(ament_index_cpp REQUIRED)
find_package(modelec_interfaces REQUIRED) find_package(modelec_interfaces REQUIRED)
find_package(modelec_utils REQUIRED) find_package(modelec_utils REQUIRED)
find_library(WIRINGPI_LIB wiringPi)
# Serial listener Node # Serial listener Node
add_executable(serial_listener src/multiple_serial_listener.cpp) add_executable(serial_listener src/multiple_serial_listener.cpp)
@@ -54,15 +53,6 @@ target_include_directories(pcb_action_interface PUBLIC
$<INSTALL_INTERFACE:include> $<INSTALL_INTERFACE:include>
) )
# PCA9685 Listener Node
add_executable(pca9685_controller src/pca9685_controller.cpp)
ament_target_dependencies(pca9685_controller rclcpp std_msgs modelec_interfaces)
target_link_libraries(pca9685_controller ${WIRINGPI_LIB} modelec_utils::utils)
target_include_directories(pca9685_controller PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
# Enable testing and linting # Enable testing and linting
if(BUILD_TESTING) if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED) find_package(ament_lint_auto REQUIRED)
@@ -78,7 +68,6 @@ install(TARGETS
pcb_alim_interface pcb_alim_interface
pcb_odo_interface pcb_odo_interface
pcb_action_interface pcb_action_interface
pca9685_controller
DESTINATION lib/${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME}
) )

50
src/modelec_com/include/modelec_com/pca9685_controller.hpp
View File

@@ -1,50 +0,0 @@
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <unordered_set>
#include <wiringPi.h>
#include <wiringPiI2C.h>
#include <modelec_interfaces/msg/pca9685_servo.hpp>
#include <modelec_interfaces/srv/add_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_interfaces::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_interfaces::srv::AddServoMotor>::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);
};
}

155
src/modelec_com/src/pca9685_controller.cpp
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@@ -1,155 +0,0 @@
#include "modelec_com/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_interfaces::msg::PCA9685Servo>(
"servo_control", 10, [this](const modelec_interfaces::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_interfaces::srv::AddServoMotor>(
"add_servo", [this](const modelec_interfaces::srv::AddServoMotor::Request::SharedPtr request,
modelec_interfaces::srv::AddServoMotor::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);
});
clearAllDevices();
}
// 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)
{
SetPCA9685PWM(channel, 0, 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;
}

28
src/modelec_core/CMakeLists.txt
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@@ -16,7 +16,6 @@ find_package(Boost REQUIRED COMPONENTS system)
find_package(modelec_interfaces REQUIRED) find_package(modelec_interfaces REQUIRED)
find_package(modelec_utils REQUIRED) find_package(modelec_utils REQUIRED)
find_library(WIRINGPI_LIB wiringPi)
add_executable(gamecontroller_listener src/gamecontroller_listener.cpp) add_executable(gamecontroller_listener src/gamecontroller_listener.cpp)
ament_target_dependencies(gamecontroller_listener rclcpp std_msgs sensor_msgs modelec_interfaces) ament_target_dependencies(gamecontroller_listener rclcpp std_msgs sensor_msgs modelec_interfaces)
@@ -26,30 +25,6 @@ target_include_directories(gamecontroller_listener PUBLIC
$<INSTALL_INTERFACE:include> $<INSTALL_INTERFACE:include>
) )
add_executable(solenoid_controller src/solenoid_controller.cpp)
ament_target_dependencies(solenoid_controller rclcpp modelec_interfaces)
target_link_libraries(solenoid_controller ${WIRINGPI_LIB} modelec_utils::utils)
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_interfaces)
target_link_libraries(arm_controller ${WIRINGPI_LIB} modelec_utils::utils)
target_include_directories(arm_controller PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_executable(button_gpio_controller src/button_gpio_controller.cpp)
ament_target_dependencies(button_gpio_controller rclcpp std_msgs modelec_interfaces)
target_link_libraries(button_gpio_controller ${WIRINGPI_LIB} modelec_utils::utils)
target_include_directories(button_gpio_controller PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_executable(speed_result src/speed_result.cpp) add_executable(speed_result src/speed_result.cpp)
ament_target_dependencies(speed_result rclcpp std_msgs sensor_msgs modelec_interfaces) ament_target_dependencies(speed_result rclcpp std_msgs sensor_msgs modelec_interfaces)
target_link_libraries(speed_result modelec_utils::utils) target_link_libraries(speed_result modelec_utils::utils)
@@ -69,9 +44,6 @@ endif()
# Install targets # Install targets
install(TARGETS install(TARGETS
gamecontroller_listener gamecontroller_listener
solenoid_controller
arm_controller
button_gpio_controller
speed_result speed_result
DESTINATION lib/${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME}
) )

60
src/modelec_core/include/modelec/arm_controller.hpp
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@@ -1,60 +0,0 @@
#pragma once
#include <array>
#include <rclcpp/rclcpp.hpp>
#include <modelec_interfaces/msg/pca9685_servo.hpp>
#include <modelec_interfaces/msg/servo_mode.hpp>
#include <modelec_interfaces/srv/add_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_interfaces::msg::ServoMode;
struct Pince {
int pin;
int mode;
// angle mapping : 1 - PINCE_CLOSED | 2 - PINCE_MIDDLE | 3 - PINCE_OPEN | 4 - PINCE_FULLY_OPEN
std::array<int, 4> angles;
};
struct Arm {
std::map<int, std::array<int, 3>> pins;
int mode;
};
public:
ArmController();
private:
rclcpp::Publisher<modelec_interfaces::msg::PCA9685Servo>::SharedPtr servo_spublisher_;
rclcpp::Subscription<modelec_interfaces::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_interfaces::srv::AddServoMotor>::SharedPtr client_;
void ControlPince(const Mode::SharedPtr msg);
void ControlArm(const Mode::SharedPtr msg);
};
}

35
src/modelec_core/include/modelec/button_gpio_controller.hpp
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@@ -1,35 +0,0 @@
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <modelec_interfaces/srv/add_button.hpp>
#include <modelec_interfaces/srv/button.hpp>
#include <modelec_interfaces/msg/button.hpp>
#include <wiringPi.h>
namespace Modelec {
class ButtonGpioController : public rclcpp::Node {
struct Button {
int pin;
rclcpp::Publisher<modelec_interfaces::msg::Button>::SharedPtr publisher;
std::string name;
};
public:
ButtonGpioController();
private:
// service
rclcpp::Service<modelec_interfaces::srv::AddButton>::SharedPtr new_button_service_;
rclcpp::Service<modelec_interfaces::srv::Button>::SharedPtr button_server_;
// service callbacks
void new_button(const std::shared_ptr<modelec_interfaces::srv::AddButton::Request> request, std::shared_ptr<modelec_interfaces::srv::AddButton::Response> response);
void check_button(const std::shared_ptr<modelec_interfaces::srv::Button::Request> request, std::shared_ptr<modelec_interfaces::srv::Button::Response> response);
// timer
rclcpp::TimerBase::SharedPtr timer_;
std::map<int, Button> buttons_;
};
}

24
src/modelec_core/include/modelec/solenoid_controller.hpp
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@@ -1,24 +0,0 @@
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <unordered_set>
#include <wiringPi.h>
#include <modelec_interfaces/msg/solenoid.hpp>
#include <modelec_interfaces/srv/add_solenoid.hpp>
namespace Modelec {
class SolenoidController : public rclcpp::Node {
public:
SolenoidController();
private:
std::unordered_set<int> solenoid_pin_;
rclcpp::Subscription<modelec_interfaces::msg::Solenoid>::SharedPtr solenoid_subscriber_;
rclcpp::Service<modelec_interfaces::srv::AddSolenoid>::SharedPtr add_solenoid_service_;
void activateSolenoid(const modelec_interfaces::msg::Solenoid::SharedPtr msg);
void addSolenoid(const std::shared_ptr<modelec_interfaces::srv::AddSolenoid::Request> request, std::shared_ptr<modelec_interfaces::srv::AddSolenoid::Response> response);
};
}

113
src/modelec_core/src/arm_controller.cpp
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@@ -1,113 +0,0 @@
#include "modelec_interfaces/msg/servo_mode.hpp"
#include <modelec/arm_controller.hpp>
namespace Modelec {
ArmController::ArmController() : Node("pince_controller") {
this->servo_spublisher_ = this->create_publisher<modelec_interfaces::msg::PCA9685Servo>("servo_control", 10);
client_ = this->create_client<modelec_interfaces::srv::AddServoMotor>("add_servo");
// ensure the server is up
while (!client_->wait_for_service(std::chrono::seconds(1))) {
if (!rclcpp::ok()) {
RCLCPP_ERROR(this->get_logger(), "Interrupted while waiting for the service. Exiting.");
return;
}
RCLCPP_INFO(this->get_logger(), "service not available, waiting again...");
}
for (int pin : {PINCE_1_PIN, PINCE_2_PIN, PINCE_3_PIN, ARM_1_PIN, ARM_2_PIN}) {
auto request = std::make_shared<modelec_interfaces::srv::AddServoMotor::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_INFO(this->get_logger(), "Added servo on pin %d", pin);
}
} else {
RCLCPP_ERROR(this->get_logger(), "Service call failed");
}
}
subscription_ = this->create_subscription<modelec_interfaces::msg::ServoMode>(
"arm_control", 10, [this](const modelec_interfaces::msg::ServoMode::SharedPtr msg) {
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) {
RCLCPP_INFO(this->get_logger(), "Pince %d already in mode %d, no action required", msg->pin, msg->mode);
return;
}
auto message = modelec_interfaces::msg::PCA9685Servo();
message.pin = msg->pin;
message.angle = pince.angles[msg->mode];
servo_spublisher_->publish(message);
pince_pins[msg->pin].mode = msg->mode;
}
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_interfaces::msg::PCA9685Servo();
message.pin = pince.second.pin;
message.angle = pince.second.angles[msg->mode];
servo_spublisher_->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_interfaces::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_interfaces::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;
}

57
src/modelec_core/src/button_gpio_controller.cpp
View File

@@ -1,57 +0,0 @@
#include <modelec/button_gpio_controller.hpp>
namespace Modelec {
ButtonGpioController::ButtonGpioController() : Node("button_gpio_controller") {
if (wiringPiSetupGpio() == -1)
{
RCLCPP_ERROR(this->get_logger(), "Failed to initialize GPIO.");
rclcpp::shutdown();
}
new_button_service_ = create_service<modelec_interfaces::srv::AddButton>("add_button", std::bind(&ButtonGpioController::new_button, this, std::placeholders::_1, std::placeholders::_2));
button_server_ = create_service<modelec_interfaces::srv::Button>("button", std::bind(&ButtonGpioController::check_button, this, std::placeholders::_1, std::placeholders::_2));
timer_ = create_wall_timer(std::chrono::seconds(1), [this]() {
for (auto& button : buttons_) {
modelec_interfaces::msg::Button msg;
msg.pin = button.second.pin;
msg.state = digitalRead(button.second.pin) == LOW;
button.second.publisher->publish(msg);
}
});
}
void ButtonGpioController::new_button(const std::shared_ptr<modelec_interfaces::srv::AddButton::Request> request, std::shared_ptr<modelec_interfaces::srv::AddButton::Response> response) {
if (buttons_.find(request->pin) != buttons_.end()) {
response->success = false;
return;
}
Button button;
button.pin = request->pin;
button.name = request->name;
button.publisher = create_publisher<modelec_interfaces::msg::Button>("button/" + request->name, 10);
buttons_.insert({request->pin, button});
pinMode(request->pin, INPUT);
pullUpDnControl(request->pin, PUD_UP);
response->success = true;
}
void ButtonGpioController::check_button(const std::shared_ptr<modelec_interfaces::srv::Button::Request> request, std::shared_ptr<modelec_interfaces::srv::Button::Response> response) {
if (buttons_.find(request->pin) == buttons_.end()) {
response->status = false;
return;
}
response->status = digitalRead(request->pin) == LOW;
}
}
int main(int argc, char** argv) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::ButtonGpioController>());
rclcpp::shutdown();
return 0;
}

43
src/modelec_core/src/solenoid_controller.cpp
View File

@@ -1,43 +0,0 @@
#include <modelec/solenoid_controller.hpp>
#include <wiringPi.h>
namespace Modelec {
SolenoidController::SolenoidController() : Node("solenoid_controller") {
wiringPiSetup();
solenoid_subscriber_ = this->create_subscription<modelec_interfaces::msg::Solenoid>(
"solenoid", 10, std::bind(&SolenoidController::activateSolenoid, this, std::placeholders::_1));
add_solenoid_service_ = this->create_service<modelec_interfaces::srv::AddSolenoid>(
"add_solenoid", std::bind(&SolenoidController::addSolenoid, this, std::placeholders::_1, std::placeholders::_2));
}
void SolenoidController::activateSolenoid(const modelec_interfaces::msg::Solenoid::SharedPtr msg) {
// Activate solenoid
if (solenoid_pin_.find(msg->pin) != solenoid_pin_.end()) {
digitalWrite(msg->pin, msg->state ? HIGH : LOW);
}
}
void SolenoidController::addSolenoid(const std::shared_ptr<modelec_interfaces::srv::AddSolenoid::Request> request,
std::shared_ptr<modelec_interfaces::srv::AddSolenoid::Response> response) {
if (solenoid_pin_.find(request->pin) != solenoid_pin_.end()) {
response->success = false;
return;
}
pinMode(request->pin, OUTPUT);
digitalWrite(request->pin, LOW);
solenoid_pin_.insert(request->pin);
response->success = true;
}
}
int main(int argc, char *argv[]) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::SolenoidController>());
rclcpp::shutdown();
return 0;
}

52
src/modelec_sensors/CMakeLists.txt
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@@ -1,52 +0,0 @@
cmake_minimum_required(VERSION 3.8)
project(modelec_sensors)
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(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(modelec_interfaces REQUIRED)
find_package(modelec_utils REQUIRED)
find_library(WIRINGPI_LIB wiringPi)
add_executable(lidar_controller src/lidar_controller.cpp)
ament_target_dependencies(lidar_controller rclcpp std_msgs sensor_msgs modelec_interfaces)
target_link_libraries(lidar_controller modelec_utils::utils)
target_include_directories(lidar_controller PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
add_executable(tirette_controller ../modelec_sensors/src/tirette_controller.cpp)
ament_target_dependencies(tirette_controller rclcpp std_msgs modelec_interfaces)
target_link_libraries(tirette_controller ${WIRINGPI_LIB} modelec_utils::utils)
target_include_directories(tirette_controller PUBLIC
$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
$<INSTALL_INTERFACE:include>
)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
set(ament_cmake_copyright_FOUND TRUE)
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
# Install targets
install(TARGETS
lidar_controller
DESTINATION lib/${PROJECT_NAME}
)
# Install include files
install(DIRECTORY include/
DESTINATION include/
)
ament_package()

674
src/modelec_sensors/LICENSE
View File

@@ -1,674 +0,0 @@
GNU GENERAL PUBLIC LICENSE
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OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM
IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF
ALL NECESSARY SERVICING, REPAIR OR CORRECTION.
16. Limitation of Liability.
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
THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY
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>.

18
src/modelec_sensors/include/modelec_sensors/lidar_controller.hpp
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@@ -1,18 +0,0 @@
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <rclcpp/subscription.hpp>
#include <sensor_msgs/msg/laser_scan.hpp>
namespace Modelec {
// TODO - DEPRECATED
class LidarController : public rclcpp::Node {
public:
LidarController();
private:
rclcpp::Subscription<sensor_msgs::msg::LaserScan>::SharedPtr subscription_;
void processLidarData(const sensor_msgs::msg::LaserScan::SharedPtr msg);
};
}

27
src/modelec_sensors/include/modelec_sensors/tirette_controller.hpp
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@@ -1,27 +0,0 @@
#pragma once
#include <rclcpp/rclcpp.hpp>
#include <modelec_interfaces/srv/tirette.hpp>
#include <std_msgs/msg/bool.hpp>
#include <wiringPi.h>
#define REFRESH_RATE 100
#define GPIO_TIRETTE 17
using TiretteInterface = modelec_interfaces::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_;
rclcpp::Publisher<std_msgs::msg::Bool>::SharedPtr publisher_change_;
int tirette_state_;
void check_tirette(const std::shared_ptr<TiretteInterface::Request> request, std::shared_ptr<TiretteInterface::Response> response);
};
}

28
src/modelec_sensors/package.xml
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@@ -1,28 +0,0 @@
<?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_sensors</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_interfaces</depend>
<depend>modelec_utils</depend>
<depend>rclcpp</depend>
<depend>std_msgs</depend>
<depend>sensor_msgs</depend>
<depend>geometry_msgs</depend>
<build_depend>boost</build_depend>
<exec_depend>boost</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>

23
src/modelec_sensors/src/lidar_controller.cpp
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@@ -1,23 +0,0 @@
#include <modelec_sensors/lidar_controller.hpp>
namespace Modelec {
// TODO - DEPRECATED
LidarController::LidarController() : Node("lidar_controller") {
subscription_ = this->create_subscription<sensor_msgs::msg::LaserScan>(
"scan", 10, [this](const sensor_msgs::msg::LaserScan::SharedPtr msg) {
processLidarData(msg);
});
}
void LidarController::processLidarData(const sensor_msgs::msg::LaserScan::SharedPtr msg) {
// Process the received LiDAR data
RCLCPP_INFO(this->get_logger(), "Received LiDAR data: %s", msg->header.frame_id.c_str());
}
}
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
rclcpp::spin(std::make_shared<Modelec::LidarController>());
rclcpp::shutdown();
return 0;
}

57
src/modelec_sensors/src/tirette_controller.cpp
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@@ -1,57 +0,0 @@
#include <modelec_sensors/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_ = 0;
// Initialize the service
service_ = this->create_service<modelec_interfaces::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", 10);
publisher_change_ = this->create_publisher<std_msgs::msg::Bool>("tirette/continue", 10);
// Initialize the timer
timer_ = this->create_wall_timer(std::chrono::milliseconds(REFRESH_RATE), [this]() {
// TODO : CHECK THAT
bool lastState = tirette_state_;
tirette_state_ = digitalRead(GPIO_TIRETTE);
auto msg = std_msgs::msg::Bool();
msg.data = tirette_state_;
if (lastState == LOW && tirette_state_ == HIGH) {
publisher_->publish(msg);
}
publisher_change_->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;
}