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Merge pull request #185 from BlueAndi/feature/ROS2_TCP
Feature/ros2 tcp
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,32 @@ | ||
| ; ******************************************************************************** | ||
| ; Build mode log configurations | ||
| ; * debug: Standard debugging purposes during development. | ||
| ; * release: The release build contains only the relevant user informations. | ||
| ; * trace: Hardcore debugging by following e.g. method call hierarchy. | ||
| ; ******************************************************************************** | ||
| [mode:debug_log] | ||
| build_flags = | ||
| -D LOG_DEBUG_ENABLE=1 | ||
| -D LOG_TRACE_ENABLE=0 | ||
| -D CONFIG_LOG_SEVERITY=Logging::LOG_LEVEL_DEBUG | ||
|
|
||
| [mode:release_log] | ||
| build_flags = | ||
| -D LOG_DEBUG_ENABLE=0 | ||
| -D LOG_TRACE_ENABLE=0 | ||
| -D CONFIG_LOG_SEVERITY=Logging::LOG_LEVEL_INFO | ||
|
|
||
| [mode:trace_log] | ||
| build_flags = | ||
| -D LOG_DEBUG_ENABLE=1 | ||
| -D LOG_TRACE_ENABLE=1 | ||
| -D CONFIG_LOG_SEVERITY=Logging::LOG_LEVEL_TRACE | ||
|
|
||
| [mode:debug_native] | ||
| build_flags = | ||
| -O0 | ||
| -ggdb | ||
|
|
||
| [mode:release_native] | ||
| build_flags = | ||
| -O2 |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
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@@ -25,8 +25,8 @@ | |
| DESCRIPTION | ||
| *******************************************************************************/ | ||
| /** | ||
| * @brief Custom Micro-ROS transport. | ||
| * @author Gabryel Reyes <[email protected]> | ||
| * @brief Custom Micro-ROS transport class selector. | ||
| * @author Norbert Schulz <[email protected]> | ||
| * | ||
| * @addtogroup Application | ||
| * | ||
|
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@@ -38,185 +38,11 @@ | |
| /****************************************************************************** | ||
| * Compile Switches | ||
| *****************************************************************************/ | ||
|
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| /****************************************************************************** | ||
| * Includes | ||
| *****************************************************************************/ | ||
| #include <IPAddress.h> | ||
| #include <rmw_microros/rmw_microros.h> | ||
| #include <WiFiUdp.h> | ||
|
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| /****************************************************************************** | ||
| * Macros | ||
| *****************************************************************************/ | ||
|
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| /****************************************************************************** | ||
| * Types and Classes | ||
| *****************************************************************************/ | ||
|
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| /** | ||
| * Micro-ROS custom transport adaption. | ||
| * | ||
| * The static functions are used as these are called from C-language | ||
| */ | ||
| class CustomRosTransport | ||
| { | ||
| public: | ||
| /** | ||
| * Constructs a custom Micro-ROS transport. | ||
| */ | ||
| CustomRosTransport() : m_udpClient(), m_address(), m_port(DEFAULT_PORT) | ||
| { | ||
| } | ||
|
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| /** | ||
| * Destroys custom Micro-ROS transport. | ||
| * | ||
| */ | ||
| ~CustomRosTransport() | ||
| { | ||
| } | ||
|
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| /** | ||
| * Initialize custom ROS transport with agent address and port. | ||
| * | ||
| * @param[in] addr Micro-ROS agent IP-address | ||
| * @param[in] port Micro-ROS agent port | ||
| */ | ||
| void init(const IPAddress& addr, uint16_t port) | ||
| { | ||
| m_address = addr; | ||
| m_port = port; | ||
| } | ||
|
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| /** | ||
| * Get IP-address of Micro-ROS agent. | ||
| * | ||
| * @return IP-address | ||
| */ | ||
| const IPAddress& getIPAddress() const | ||
| { | ||
| return m_address; | ||
| } | ||
|
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| /** | ||
| * Get IP-address of Micro-ROS agent as string | ||
| * | ||
| * @return IP-address as string | ||
| */ | ||
| const String getIPAddressAsStr() const | ||
| { | ||
| return m_address.toString(); | ||
| } | ||
|
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| /** | ||
| * Get port of Micro-ROS agent. | ||
| * | ||
| * @return Port | ||
| */ | ||
| uint16_t getPort() const | ||
| { | ||
| return m_port; | ||
| } | ||
|
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| /** | ||
| * Open and initialize the custom transport (C-Entry Point). | ||
| * https://micro.ros.org/docs/tutorials/advanced/create_custom_transports/ | ||
| * | ||
| * @param[in] transport The arguments passed through uxr_init_custom_transport. | ||
| * | ||
| * @return A boolean indicating if the opening was successful. | ||
| */ | ||
| static bool open(uxrCustomTransport* transport); | ||
|
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| /** | ||
| * Close the custom transport (C-Entry Point). | ||
| * https://micro.ros.org/docs/tutorials/advanced/create_custom_transports/ | ||
| * | ||
| * @param[in] transport The arguments passed through uxr_init_custom_transport. | ||
| * | ||
| * @return A boolean indicating if the closing was successful. | ||
| */ | ||
| static bool close(uxrCustomTransport* transport); | ||
|
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| /** | ||
| * Write data to the custom transport (C-Entry Point). | ||
| * https://micro.ros.org/docs/tutorials/advanced/create_custom_transports/ | ||
| * | ||
| * @param[in] transport The arguments passed through uxr_init_custom_transport. | ||
| * @param[in] buffer The buffer to write. | ||
| * @param[in] size The size of the buffer. | ||
| * @param[out] errorCode The error code. | ||
| * | ||
| * @return The number of bytes written. | ||
| */ | ||
| static size_t write(uxrCustomTransport* transport, const uint8_t* buffer, size_t size, uint8_t* errorCode); | ||
|
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| /** | ||
| * Read data from the custom transport (C-Entry Point). | ||
| * https://micro.ros.org/docs/tutorials/advanced/create_custom_transports/ | ||
| * | ||
| * @param[in] transport The arguments passed through uxr_init_custom_transport. | ||
| * @param[out] buffer The buffer to read into. | ||
| * @param[in] size The size of the buffer. | ||
| * @param[in] timeout The timeout in milliseconds. | ||
| * @param[out] errorCode The error code. | ||
| * | ||
| * @return The number of bytes read. | ||
| */ | ||
| static size_t read(uxrCustomTransport* transport, uint8_t* buffer, size_t size, int timeout, uint8_t* errorCode); | ||
|
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| private: | ||
| /** | ||
| * Open and initialize the custom transport. | ||
| * | ||
| * @return A boolean indicating if the opening was successful. | ||
| */ | ||
| bool open(void); | ||
|
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| /** | ||
| * Close the custom transport. | ||
| * | ||
| * @return A boolean indicating if the closing was successful. | ||
| */ | ||
| bool close(void); | ||
|
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||
| /** | ||
| * Write data to the custom transport. | ||
| * | ||
| * @param[in] buffer The buffer to write. | ||
| * @param[in] size The size of the buffer. | ||
| * @param[out] errorCode The error code. | ||
| * | ||
| * @return The number of bytes written. | ||
| */ | ||
| size_t write(const uint8_t* buffer, size_t size, uint8_t* errorCode); | ||
|
|
||
| /** | ||
| * Read data from the custom transport. | ||
| * | ||
| * @param[out] buffer The buffer to read into. | ||
| * @param[in] size The size of the buffer. | ||
| * @param[in] timeout The timeout in milliseconds. | ||
| * @param[out] errorCode The error code. | ||
| * | ||
| * @return The number of bytes read. | ||
| */ | ||
| size_t read(uint8_t* buffer, size_t size, int timeout, uint8_t* errorCode); | ||
|
|
||
| /** | ||
| * Default Micro-ROS agent port. | ||
| */ | ||
| static const int DEFAULT_PORT = 8888; | ||
|
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| WiFiUDP m_udpClient; /**< UDP client */ | ||
| IPAddress m_address; /**< IP address of the Micro-ROS agent */ | ||
| uint16_t m_port; /**< Port of the Micro-ROS agent */ | ||
| }; | ||
|
|
||
| /****************************************************************************** | ||
| * Functions | ||
| *****************************************************************************/ | ||
| #if defined(TRANSPORT_USE_TCP) && TRANSPORT_USE_TCP != 0 | ||
| #include "Transports/CustomRosTransportTcp.h" | ||
| #else | ||
| #include "Transports/CustomRosTransportUdp.h" | ||
| #endif /* else defined(TRANSPORT_USE_TCP) && TRANSPORT_USE_TCP != 0 */ | ||
|
|
||
| #endif /* CUSTOM_ROS_TRANSPORT_H */ | ||
| /** @} */ | ||
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