Merge pull request #7 from ProjectLadon/master

Adding MKR1000 support

library.properties

@@ -6,5 +6,5 @@ sentence=Use an Arduino as a ROS publisher/subscriber
 paragraph=Works with http://wiki.ros.org/rosserial, requires a rosserial node to connect
 category=Communication
 url=https://github.com/frankjoshua/rosserial_arduino_lib
-architectures=avr
+architectures=*
 includes=ros.h

readme.md

@@ -1,3 +1,5 @@
 Use an Arduino as a ROS publisher/subscriber
 
 Works with http://wiki.ros.org/rosserial, requires a rosserial node to connect
+
+This fork exists for the purpose of implementing MKR1000 support. 

src/MKR1000Hardware.h

@@ -0,0 +1,78 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *
+ * 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 prducts 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.
+ */
+
+#ifndef MKR1000HARDWARE_H
+#define MKR1000HARDWARE_H
+
+#include <WiFi101.h>
+
+class MKR1000Hardware {
+  public:
+    MKR1000Hardware()
+    {
+    }
+
+    void setConnection(IPAddress &server, int port = 11411) {
+      this->server = server;
+      this->serverPort = port;
+    }
+
+    IPAddress getLocalIP() {
+      return WiFi.localIP();
+    }
+
+    void init() {
+      this->tcp.connect(this->server, this->serverPort);
+    }
+
+    int read() {
+      if (this->tcp.connected()) {
+        return tcp.read();
+      } else {
+        this->tcp.connect(this->server, this->serverPort);
+      }
+      return -1;
+    };
+
+    void write(const uint8_t* data, size_t length) {
+      tcp.write(data, length);
+    }
+
+    unsigned long time() {return millis();}
+
+  protected:
+    WiFiClient tcp;
+    IPAddress server;
+    uint16_t serverPort = 11411;
+};
+
+#endif  // MKR1000HARDWARE_H

src/ros.h

@@ -1,4 +1,4 @@
-/* 
+/*
  * Software License Agreement (BSD License)
  *
  * Copyright (c) 2011, Willow Garage, Inc.
@@ -41,6 +41,9 @@
 #if defined(ESP8266)
   #include "Esp8266Hardware.h"
 #endif
+#if defined(MKR1000)
+  #include "MKR1000Hardware.h"
+#endif
 
 #define FLASH_CONVERTER_BUFFER 150
 
@@ -54,38 +57,38 @@ namespace ros
   private:
     char* buffer_;
     int buffer_index_;
-    
+
     const char* readFromFlash( const __FlashStringHelper * what )
     {
       PGM_P lp_p = (PGM_P) what ;
-      
+
       int offset = buffer_index_;
-      
-      while ( buffer_index_ < FLASH_CONVERTER_BUFFER - 1 ) 
+
+      while ( buffer_index_ < FLASH_CONVERTER_BUFFER - 1 )
       {
 	buffer_[ buffer_index_ ] = pgm_read_byte( lp_p++ );
-		
+
 	if ( buffer_[ buffer_index_ ] == 0)
 	{
 	  buffer_index_++;
-	  
+
 	  break;
 	}
-	
+
 	buffer_index_++;
       }
-      
+
       if ( buffer_index_ >= FLASH_CONVERTER_BUFFER - 1 )
       {
 	read_out_error_ = DefaultReadOutBuffer_::BufferOverflow;
       }
-      
+
       return buffer_ + offset ;
     }
-    
+
   protected:
     ReadoutError read_out_error_;
-    
+
     // overrider of method from DefaultReadOutBuffer_
     virtual const char * readTopic( const char * topic, bool from_flash )
     {
@@ -98,36 +101,36 @@ namespace ros
 	return topic;
       }
     }
-        
+
   public:
-    FlashReadOutBuffer_() 
+    FlashReadOutBuffer_()
     {
       buffer_index_ = 0;
-      
+
       buffer_ = new char[ FLASH_CONVERTER_BUFFER ];
-      
+
       buffer_[0] = 0;  //zero termination at beginning
       buffer_[ FLASH_CONVERTER_BUFFER - 1 ] = 0; // assure zero termination
     }
-    
-    virtual ~FlashReadOutBuffer_() 
+
+    virtual ~FlashReadOutBuffer_()
     {
       delete buffer_;
     }
-    
+
     // for md5sum / msg type
     virtual const char *  readMsgInfo( const char * msg_info )
     {
       return readFromFlash( reinterpret_cast<const __FlashStringHelper*>( msg_info ) );
     }
-    
+
     // for log msgs
     const char *  readLog( const __FlashStringHelper * msg )
     {
       return readFromFlash( msg );
     }
   };
-  
+
 #if defined(__AVR_ATmega8__) || defined(__AVR_ATmega168__)
   /* downsize our buffers */
   typedef NodeHandle_<ArduinoHardware, 6, 6, 150, 150, FlashReadOutBuffer_> NodeHandle;
@@ -139,22 +142,26 @@ namespace ros
 #elif defined(ESP8266)
 
   typedef NodeHandle_<Esp8266Hardware> NodeHandle;
-
+
+#elif defined(MKR1000)
+
+  typedef NodeHandle_<MKR1000Hardware> NodeHandle;
+
 #elif defined(SPARK)
   typedef NodeHandle_<ArduinoHardware, 10, 10, 2048, 2048> NodeHandle;
 
 #elif defined(BOARD_ID_Pilo)
-  #include <ZRos.h> // refers to git@github.com:zoubworldArduino/ZRos.git 
+  #include <ZRos.h> // refers to git@github.com:zoubworldArduino/ZRos.git
   typedef NodeHandle_<ArduinoHardwareSerial, 24, 24, 128, 128> NodeHandle;
 
 #elif defined(BOARD_ID_Captor)
-  #include <ZRos.h> // refers to git@github.com:zoubworldArduino/ZRos.git 
+  #include <ZRos.h> // refers to git@github.com:zoubworldArduino/ZRos.git
   typedef NodeHandle_<ArduinoHardwareSerial, 24, 24, 128, 128> NodeHandle;
 #else
   typedef NodeHandle_<ArduinoHardware, 25, 25, 512, 512, FlashReadOutBuffer_> NodeHandle;
 
-#endif   
-  
+#endif
+
 }
 
 #endif