Merge pull request ros-drivers#2 in PHEN/rosserial from update_upstre…

…am to jade-devel * commit 'a707373c7e9f9ad40ad9440550840e29960c9290': Changed hardcoded pin 13 to LED_BUILTIN (ros-drivers#328) Re-attempting rosserial for VEX Cortex (ros-drivers#380) Added service to force an Arduino hard reset in serial_node.py (ros-drivers#349) Fix compiling on boost > 1.66 (ros-drivers#362) Use the ! prefix introduced in gcc4mbed for mbed examples (ros-drivers#304) Add support for boolean parameters (ros-drivers#355) Change Travis to use clang-5.0.0 (ros-drivers#363) [python] fix an unboundlocalerror (ros-drivers#346) Added ESP32 support (ros-drivers#345) Retry opening the serial port every 3 seconds (ros-drivers#342) In rosserial_arduino, changed embedded type size for ROS uint64 to 8 bytes from 4. (ros-drivers#312) 0.7.7 Changes Copy src/examples to install dir so make_libraries.py doesn't fail (ros-drivers#336) Add overall spin timeout to rosserial read. (ros-drivers#334) Fixing formatting on files. (ros-drivers#333) Fix catkin lint errors (ros-drivers#296)
1r0b1n0 · Sep 12, 2018 · f3572cc · f3572cc
2 parents d924864 + a707373
commit f3572cc
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diff --git a/.gitignore b/.gitignore
@@ -2,3 +2,6 @@
 *.swp
 rosserial_server/doc/
 *.user*
+*.out
+*.geany
+
diff --git a/.travis.yml b/.travis.yml
@@ -4,7 +4,7 @@ language: generic
 
 env:
   - CI_ROS_DISTRO=indigo CC=gcc CXX=g++ PATH=/usr/sbin:/usr/bin:/sbin:/bin
-  - CI_ROS_DISTRO=indigo CC=clang CXX=clang++ PATH=/usr/local/clang-3.9.0/bin:/usr/sbin:/usr/bin:/sbin:/bin
+  - CI_ROS_DISTRO=indigo CC=clang CXX=clang++ PATH=/usr/local/clang-5.0.0/bin:/usr/sbin:/usr/bin:/sbin:/bin
 
 before_install:
   - sudo sh -c 'echo "deb http://packages.ros.org/ros-shadow-fixed/ubuntu trusty main" > /etc/apt/sources.list.d/ros-latest.list'

diff --git a/rosserial/CHANGELOG.rst b/rosserial/CHANGELOG.rst
@@ -2,6 +2,9 @@
 Changelog for package rosserial
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.7 (2017-11-29)
+------------------
+
 0.7.6 (2017-03-01)
 ------------------
 

diff --git a/rosserial/package.xml b/rosserial/package.xml
@@ -1,6 +1,6 @@
 <package>
   <name>rosserial</name>
-  <version>0.7.6</version>
+  <version>0.7.7</version>
   <description>
     Metapackage for core of rosserial.
   </description>

diff --git a/rosserial_arduino/CHANGELOG.rst b/rosserial_arduino/CHANGELOG.rst
@@ -2,6 +2,18 @@
 Changelog for package rosserial_arduino
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.7 (2017-11-29)
+------------------
+* Fix catkin lint errors (`#296 <https://github.com/ros-drivers/rosserial/issues/296>`_)
+* Add ArduinoTcpHardware to use Arduino Ethernet shield. (`#324 <https://github.com/ros-drivers/rosserial/issues/324>`_)
+* Add an example to use Subscriber and ServiceServer as class members. (`#321 <https://github.com/ros-drivers/rosserial/issues/321>`_)
+* Added support for the Particle Photon (`#292 <https://github.com/ros-drivers/rosserial/issues/292>`_)
+* Fix POLICY CMP0054 unknown (`#291 <https://github.com/ros-drivers/rosserial/issues/291>`_)
+* Use ESP8266 header only if defined. (`#288 <https://github.com/ros-drivers/rosserial/issues/288>`_)
+* Add Esp8266 support and an example (`#279 <https://github.com/ros-drivers/rosserial/issues/279>`_)
+* Add support for STM32F1 with stm32duino. (`#281 <https://github.com/ros-drivers/rosserial/issues/281>`_)
+* Contributors: Bei Chen Liu, David Portugal, Dmitry Kargin, Mike Purvis, Romain Reignier, Valentin VERGEZ, khancyr
+
 0.7.6 (2017-03-01)
 ------------------
 * Fixed issue with CMake CMP0054 (`#273 <https://github.com/ros-drivers/rosserial/issues/273>`_)

diff --git a/rosserial_arduino/CMakeLists.txt b/rosserial_arduino/CMakeLists.txt
@@ -1,34 +1,38 @@
 cmake_minimum_required(VERSION 2.8.3)
 project(rosserial_arduino)
 
-find_package(catkin REQUIRED COMPONENTS message_generation)
+find_package(catkin REQUIRED COMPONENTS
+  message_generation
+)
 
 add_message_files(FILES
-                  Adc.msg
-                 )
+  Adc.msg
+)
 
 add_service_files(FILES
-                  Test.srv
-                 )
+  Test.srv
+)
+
+catkin_python_setup()
 
 generate_messages()
 
 catkin_package(
   CATKIN_DEPENDS message_runtime
-  CFG_EXTRAS rosserial_arduino-extras.cmake
+  CFG_EXTRAS ${PROJECT_NAME}-extras.cmake
 )
 
-install(DIRECTORY src/ros_lib
+install(
+  DIRECTORY src/ros_lib
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/src
 )
 
-install(DIRECTORY arduino-cmake
+install(
+  DIRECTORY arduino-cmake
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
 
-install(PROGRAMS src/rosserial_arduino/make_libraries.py
+catkin_install_python(
+  PROGRAMS src/${PROJECT_NAME}/make_libraries.py nodes/serial_node.py
   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
 )
-
-
-
diff --git a/rosserial_arduino/nodes/serial_node.py b/rosserial_arduino/nodes/serial_node.py
@@ -0,0 +1,76 @@
+#!/usr/bin/env python
+
+#####################################################################
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import rospy
+from rosserial_arduino import SerialClient
+from serial import SerialException
+from time import sleep
+
+import sys
+
+if __name__=="__main__":
+
+    rospy.init_node("serial_node")
+    rospy.loginfo("ROS Serial Python Node")
+
+    port_name = rospy.get_param('~port','/dev/ttyUSB0')
+    baud = int(rospy.get_param('~baud','57600'))
+
+    # Number of seconds of sync failure after which Arduino is auto-reset.
+    # 0 = no timeout, auto-reset disabled
+    auto_reset_timeout = int(rospy.get_param('~auto_reset_timeout','0'))
+
+    # for systems where pyserial yields errors in the fcntl.ioctl(self.fd, TIOCMBIS, \
+    # TIOCM_DTR_str) line, which causes an IOError, when using simulated port
+    fix_pyserial_for_test = rospy.get_param('~fix_pyserial_for_test', False)
+
+    # TODO: do we really want command line params in addition to parameter server params?
+    sys.argv = rospy.myargv(argv=sys.argv)
+    if len(sys.argv) >= 2 :
+        port_name  = sys.argv[1]
+
+    while not rospy.is_shutdown():
+        rospy.loginfo("Connecting to %s at %d baud" % (port_name, baud))
+        try:
+            client = SerialClient(port_name, baud, fix_pyserial_for_test=fix_pyserial_for_test, auto_reset_timeout=auto_reset_timeout)
+            client.run()
+        except KeyboardInterrupt:
+            break
+        except SerialException:
+            sleep(1.0)
+            continue
+        except OSError:
+            sleep(1.0)
+            continue
diff --git a/rosserial_arduino/package.xml b/rosserial_arduino/package.xml
@@ -1,8 +1,8 @@
 <package>
   <name>rosserial_arduino</name>
-  <version>0.7.6</version>
+  <version>0.7.7</version>
   <description>
-    Libraries and examples for ROSserial usage on Arduino/AVR Platforms.
+    rosserial for Arduino/AVR platforms.
   </description>
   <author>Michael Ferguson</author>
   <author>Adam Stambler</author>
@@ -20,6 +20,5 @@
   <run_depend>rosserial_msgs</run_depend>
   <run_depend>rosserial_client</run_depend>
   <run_depend>message_runtime</run_depend>
+  <run_depend>rosserial_python</run_depend>
 </package>
-
-
diff --git a/rosserial_arduino/setup.py b/rosserial_arduino/setup.py
@@ -0,0 +1,11 @@
+#!/usr/bin/env python
+
+from distutils.core import setup
+from catkin_pkg.python_setup import generate_distutils_setup
+
+d = generate_distutils_setup(
+    packages=['rosserial_arduino'],
+    package_dir={'': 'src'},
+    )
+
+setup(**d)
diff --git a/rosserial_arduino/src/ros_lib/ArduinoTcpHardware.h b/rosserial_arduino/src/ros_lib/ArduinoTcpHardware.h
@@ -38,6 +38,8 @@
 #include <Arduino.h>
 #if defined(ESP8266)
   #include <ESP8266WiFi.h>
+#elif defined(ESP32)
+  #include <WiFi.h> // Using Espressif's WiFi.h
 #else
   #include <SPI.h>
   #include <Ethernet.h>
@@ -57,7 +59,7 @@ class ArduinoHardware {
 
   IPAddress getLocalIP()
   {
-#if defined(ESP8266)
+#if defined(ESP8266) or defined(ESP32)
     return tcp_.localIP();
 #else
     return Ethernet.localIP();
@@ -92,7 +94,7 @@ class ArduinoHardware {
   }
 
 protected:
-#if defined(ESP8266)
+#if defined(ESP8266) or defined(ESP32)
   WiFiClient tcp_;
 #else
   EthernetClient tcp_;

diff --git a/rosserial_arduino/src/ros_lib/examples/Blink/Blink.pde b/rosserial_arduino/src/ros_lib/examples/Blink/Blink.pde
@@ -9,14 +9,14 @@
 ros::NodeHandle  nh;
 
 void messageCb( const std_msgs::Empty& toggle_msg){
-  digitalWrite(13, HIGH-digitalRead(13));   // blink the led
+  digitalWrite(LED_BUILTIN, HIGH-digitalRead(LED_BUILTIN));   // blink the led
 }
 
 ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb );
 
 void setup()
 { 
-  pinMode(13, OUTPUT);
+  pinMode(LED_BUILTIN, OUTPUT);
   nh.initNode();
   nh.subscribe(sub);
 }

diff --git a/rosserial_arduino/src/ros_lib/examples/ServiceClient/client.py b/rosserial_arduino/src/ros_lib/examples/ServiceClient/client.py
diff --git a/rosserial_arduino/src/ros_lib/ros.h b/rosserial_arduino/src/ros_lib/ros.h
@@ -1,4 +1,4 @@
-/* 
+/*
  * Software License Agreement (BSD License)
  *
  * Copyright (c) 2011, Willow Garage, Inc.
@@ -37,7 +37,7 @@
 
 #include "ros/node_handle.h"
 
-#if defined(ESP8266) or defined(ROSSERIAL_ARDUINO_TCP)
+#if defined(ESP8266) or defined(ESP32) or defined(ROSSERIAL_ARDUINO_TCP)
   #include "ArduinoTcpHardware.h"
 #else
   #include "ArduinoHardware.h"
@@ -61,7 +61,7 @@ namespace ros
 
   typedef NodeHandle_<ArduinoHardware> NodeHandle; // default 25, 25, 512, 512
 
-#endif   
+#endif
 }
 
 #endif
diff --git a/rosserial_arduino/src/rosserial_arduino/SerialClient.py b/rosserial_arduino/src/rosserial_arduino/SerialClient.py
@@ -0,0 +1,85 @@
+#!/usr/bin/env python
+
+#####################################################################
+# Software License Agreement (BSD License)
+#
+# Copyright (c) 2011, Willow Garage, Inc.
+# All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+#  * Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+#  * Redistributions in binary form must reproduce the above
+#    copyright notice, this list of conditions and the following
+#    disclaimer in the documentation and/or other materials provided
+#    with the distribution.
+#  * Neither the name of Willow Garage, Inc. nor the names of its
+#    contributors may be used to endorse or promote products derived
+#    from this software without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+
+import time
+
+import rospy
+from std_srvs.srv import Empty, EmptyResponse
+
+from serial import Serial
+
+from rosserial_python import SerialClient as _SerialClient
+
+MINIMUM_RESET_TIME = 30
+
+class SerialClient(_SerialClient):
+
+    def __init__(self, *args, **kwargs):
+        # The number of seconds to wait after a sync failure for a sync success before automatically performing a reset.
+        # If 0, no reset is performed.
+        self.auto_reset_timeout = kwargs.pop('auto_reset_timeout', 0)
+        self.lastsync_reset = rospy.Time.now()
+        rospy.Service('~reset_arduino', Empty, self.resetArduino)
+        super(SerialClient, self).__init__(*args, **kwargs)
+
+    def resetArduino(self, *args, **kwargs):
+        """
+        Forces the Arduino to perform a reset, as though its reset button was pressed.
+        """
+        with self.read_lock, self.write_lock:
+            rospy.loginfo('Beginning Arduino reset on port %s. Closing serial port...' % self.port.portstr)
+            self.port.close()
+            with Serial(self.port.portstr) as arduino:
+                arduino.setDTR(False)
+                time.sleep(3)
+                arduino.flushInput()
+                arduino.setDTR(True)
+                time.sleep(5)
+            rospy.loginfo('Reopening serial port...')
+            self.port.open()
+            rospy.loginfo('Arduino reset complete.')
+            self.lastsync_reset = rospy.Time.now()
+        self.requestTopics()
+        return EmptyResponse()
+
+    def sendDiagnostics(self, level, msg_text):
+        super(SerialClient, self).sendDiagnostics(level, msg_text)
+        # Reset when we haven't received any data from the Arduino in over N seconds.
+        if self.auto_reset_timeout and (rospy.Time.now() - self.last_read).secs >= self.auto_reset_timeout:
+            if (rospy.Time.now() - self.lastsync_reset).secs < MINIMUM_RESET_TIME:
+                rospy.loginfo('Sync has failed, but waiting for last reset to complete.')
+            else:
+                rospy.loginfo('Sync has failed for over %s seconds. Initiating automatic reset.' % self.auto_reset_timeout)
+                self.resetArduino()
diff --git a/rosserial_arduino/src/rosserial_arduino/__init__.py b/rosserial_arduino/src/rosserial_arduino/__init__.py
@@ -0,0 +1 @@
+from SerialClient import *
diff --git a/rosserial_arduino/src/rosserial_arduino/make_libraries.py b/rosserial_arduino/src/rosserial_arduino/make_libraries.py
@@ -60,7 +60,7 @@
     'int32'   :   ('int32_t',           4, PrimitiveDataType, []),
     'uint32'  :   ('uint32_t',          4, PrimitiveDataType, []),
     'int64'   :   ('int64_t',           8, PrimitiveDataType, []),
-    'uint64'  :   ('uint64_t',          4, PrimitiveDataType, []),
+    'uint64'  :   ('uint64_t',          8, PrimitiveDataType, []),
     'float32' :   ('float',             4, PrimitiveDataType, []),
     'float64' :   ('float',             4, AVR_Float64DataType, []),
     'time'    :   ('ros::Time',         8, TimeDataType, ['ros/time']),

diff --git a/rosserial_client/CHANGELOG.rst b/rosserial_client/CHANGELOG.rst
@@ -2,6 +2,20 @@
 Changelog for package rosserial_client
 ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
 
+0.7.7 (2017-11-29)
+------------------
+* Add overall spin timeout to rosserial read. (`#334 <https://github.com/ros-drivers/rosserial/issues/334>`_)
+* Fixing formatting on files. (`#333 <https://github.com/ros-drivers/rosserial/issues/333>`_)
+* Fix catkin lint errors (`#296 <https://github.com/ros-drivers/rosserial/issues/296>`_)
+* fix spinOnce timeout : 5ms -> 5s (`#326 <https://github.com/ros-drivers/rosserial/issues/326>`_)
+* [Client] Fix a warning in comparison. (`#323 <https://github.com/ros-drivers/rosserial/issues/323>`_)
+* Use const in ros namespace instead of #define for constants. Fix `#283 <https://github.com/ros-drivers/rosserial/issues/283>`_ (`#318 <https://github.com/ros-drivers/rosserial/issues/318>`_)
+* Fix CMP0046 warnings in catkin-built firmwares (`#320 <https://github.com/ros-drivers/rosserial/issues/320>`_)
+* Prevent time variable overflow leading to parameter timeout error (`#293 <https://github.com/ros-drivers/rosserial/issues/293>`_)
+* Add class member method callback support for Service Server. (`#282 <https://github.com/ros-drivers/rosserial/issues/282>`_)
+* Added capability to specify timeout in getParam methods (`#278 <https://github.com/ros-drivers/rosserial/issues/278>`_)
+* Contributors: 1r0b1n0, Alessandro Francescon, Bei Chen Liu, David Portugal, Dmitry Kargin, Mike O'Driscoll, Mike Purvis, Romain Reignier
+
 0.7.6 (2017-03-01)
 ------------------
 * Fixing message has no attribute _md5sum (`#257 <https://github.com/ros-drivers/rosserial/issues/257>`_)