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Merged
BorjaOuterelo merged 5 commits into from
Jan 28, 2019
Merged

Feature/demo fix #9

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8f6d207
Error fix
qeyup Dec 15, 2018
2d949bd
Update warning fix
qeyup Dec 19, 2018
eb498a6
ament_cppcheck and ament_uncrustify fix
qeyup Dec 19, 2018
170f36f
Update C/RAD0_altitude_sensor/main.c
BorjaOuterelo Jan 3, 2019
2398635
Update C/RAD0_display/main.c
BorjaOuterelo Jan 3, 2019
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111 changes: 68 additions & 43 deletions C/RAD0_actuator/main.c
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Original file line number Diff line number Diff line change
@@ -1,66 +1,91 @@
// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <rclc/rclc.h>
#include <std_msgs/msg/string.h>
#include <std_msgs/msg/int32.h>
#include <std_msgs/msg/u_int32.h>

#include <stdio.h>

#define ASSERT(ptr) if (ptr == NULL) return -1;
#define CUSTOM_ASSERT(ptr) if ((ptr) == NULL) {return -1;}

static rclc_publisher_t* engine_pub;
static rclc_publisher_t * engine_pub;
static uint32_t engine_power = 100;

void engine_on_message(const void* msgin)
void engine_on_message(const void * msgin)
{

const std_msgs__msg__Int32* msg = (const std_msgs__msg__Int32*)msgin;

if (msg->data + engine_power > 0)
{
engine_power += msg->data;
}
else
{
engine_power = 0;
}

// Publish new altitude
std_msgs__msg__UInt32 msg_out;
msg_out.data = engine_power;
rclc_publish(engine_pub, (const void*)&msg_out);
const std_msgs__msg__Int32 * msg = (const std_msgs__msg__Int32 *)msgin;

if (msg->data + engine_power > 0) {
engine_power += msg->data;
} else {
engine_power = 0;
}

// Publish new altitude
rclc_ret_t ret;
std_msgs__msg__UInt32 msg_out;
msg_out.data = engine_power;
ret = rclc_publish(engine_pub, (const void *)&msg_out);
}

int main(int argc, char* argv[])
int main(int argc, char * argv[])
{
(void)argc;
(void)argv;
(void)argc;
(void)argv;

rclc_node_t * node = NULL;
rclc_subscription_t * engine_sub = NULL;

rclc_node_t* node = NULL;
rclc_subscription_t* engine_sub = NULL;

rclc_ret_t ret;

ret = rclc_init(0, NULL);
if (ret != RCL_RET_OK) {
return -1;
}

rclc_init(0, NULL);
node = rclc_create_node("rad0_actuator_c", "");
ASSERT(node);
engine_sub = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Int32), "std_msgs_msg_Int32", engine_on_message, 1, false);
ASSERT(engine_sub);
engine_pub = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, UInt32), "std_msgs_msg_UInt32", 1);
ASSERT(engine_pub);
node = rclc_create_node("rad0_actuator_c", "");
CUSTOM_ASSERT(node);
engine_sub = rclc_create_subscription(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg,
Int32), "std_msgs_msg_Int32", engine_on_message, 1,
false);
CUSTOM_ASSERT(engine_sub);
engine_pub = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg,
UInt32), "std_msgs_msg_UInt32",
1);
CUSTOM_ASSERT(engine_pub);

// Publish new altitude
std_msgs__msg__UInt32 msg_out;
msg_out.data = engine_power;
rclc_publish(engine_pub, (const void*)&msg_out);
// Publish new altitude
std_msgs__msg__UInt32 msg_out;
msg_out.data = engine_power;
ret = rclc_publish(engine_pub, (const void *)&msg_out);

rclc_spin_node(node);
rclc_spin_node(node);

//if (altitude_sub) rclc_destroy_subscription(altitude_sub);
if (engine_sub) rclc_destroy_subscription(engine_sub);
if (engine_pub) rclc_destroy_publisher(engine_pub);
if (node) rclc_destroy_node(node);
// if (altitude_sub) rclc_destroy_subscription(altitude_sub);
if (engine_sub) {
ret = rclc_destroy_subscription(engine_sub);
}
if (engine_pub) {
ret = rclc_destroy_publisher(engine_pub);
}
if (node) {
ret = rclc_destroy_node(node);
}

printf("Actuator node closed.\n");
printf("Actuator node closed.\n");

return 0;
return 0;
}
88 changes: 54 additions & 34 deletions C/RAD0_altitude_sensor/main.c
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,3 +1,17 @@
// Copyright 2018 Proyectos y Sistemas de Mantenimiento SL (eProsima).
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#include <rclc/rclc.h>
#include <std_msgs/msg/float64.h>
#include <std_msgs/msg/int32.h>
Expand All @@ -6,50 +20,56 @@
#include <math.h>
#include <time.h>

#define ASSERT(ptr) if (ptr == NULL) return -1;
#define CUSTOM_ASSERT(ptr) if ((ptr) == NULL) {return -1;}

/**
* @brief
*
* @param argc
* @param argv
* @return int
* @brief
*
* @param argc
* @param argv
* @return int
*/
int main(int argc, char *argv[])
int main(int argc, char * argv[])
{
(void)argc;
(void)argv;
rclc_init(0, NULL);
(void)argc;
(void)argv;

rclc_ret_t ret;

ret = rclc_init(0, NULL);
if (ret != RCL_RET_OK) {
return -1;
}

rclc_node_t * node = NULL;
rclc_publisher_t * publisher = NULL;

rclc_node_t* node = NULL;
rclc_publisher_t* publisher = NULL;
node = rclc_create_node("rad0_altitude_sensor_c", "");
CUSTOM_ASSERT(node);
publisher = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg,
Float64), "std_msgs_msg_Float64",
1);
CUSTOM_ASSERT(publisher);

node = rclc_create_node("rad0_altitude_sensor_c", "");
ASSERT(node);
publisher = rclc_create_publisher(node, RCLC_GET_MSG_TYPE_SUPPORT(std_msgs, msg, Float64), "std_msgs_msg_Float64", 1);
ASSERT(publisher);

double A = 0;

double A = 0;

while (rclc_ok()) {
A += 0.0001;

while (rclc_ok())
{
A += 0.0001;
// Publish new altitude
std_msgs__msg__Float64 msg;
msg.data = 500 * sin(A) + 950;
ret = rclc_publish(publisher, (const void *)&msg);

// Publish new altitude
std_msgs__msg__Float64 msg;
msg.data = 500 * sin(A) + 950;
rclc_publish(publisher, (const void*)&msg);

// Spin node
rclc_spin_node_once(node, 0);
}

// Spin node
rclc_spin_node_once(node, 0);
}
if (publisher) {ret = rclc_destroy_publisher(publisher);}
if (node) {ret = rclc_destroy_node(node);}

if (publisher) rclc_destroy_publisher(publisher);
if (node) rclc_destroy_node(node);

printf("altitude sendor closed.\n");
return 0;
}
printf("altitude sensor closed.\n");
return 0;
}
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