[48] | 1 | #include <ros/ros.h> |
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| 2 | #include <shared_serial/client.h> |
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| 3 | |
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| 4 | #include <shared_serial/Connect.h> |
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| 5 | #include <shared_serial/Send.h> |
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| 6 | #include <shared_serial/SendTo.h> |
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| 7 | #include <shared_serial/Recv.h> |
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| 8 | #include <shared_serial/SendRecv.h> |
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| 9 | #include <shared_serial/Close.h> |
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| 10 | #include <shared_serial/Flush.h> |
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| 11 | |
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| 12 | void SerialClient::init(const char *path) |
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| 13 | { |
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| 14 | nh_ = ros::NodeHandle(path); |
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| 15 | |
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| 16 | send_topic_ = nh_.advertise<shared_serial::Send>("send", 10); |
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| 17 | close_topic_ = nh_.advertise<shared_serial::Close>("close", 1); |
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| 18 | flush_topic_ = nh_.advertise<shared_serial::Flush>("flush", 1); |
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| 19 | |
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| 20 | connect_service_ = nh_.serviceClient<shared_serial::Connect>("connect", true); |
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| 21 | sendto_service_ = nh_.serviceClient<shared_serial::SendTo>("sendto", true); |
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| 22 | recv_service_ = nh_.serviceClient<shared_serial::Recv>("recv", true); |
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| 23 | sendrecv_service_ = nh_.serviceClient<shared_serial::SendRecv>("sendrecv", true); |
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| 24 | |
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| 25 | connect_service_.waitForExistence(); |
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| 26 | sendto_service_.waitForExistence(); |
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| 27 | recv_service_.waitForExistence(); |
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| 28 | sendrecv_service_.waitForExistence(); |
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| 29 | } |
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| 30 | |
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| 31 | int SerialClient::connect(float timeout) |
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| 32 | { |
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| 33 | shared_serial::Connect srv; |
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| 34 | |
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| 35 | if (!connect_service_.call(srv)) |
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| 36 | return -1; |
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| 37 | |
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| 38 | return srv.response.socket; |
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| 39 | } |
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| 40 | |
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| 41 | int SerialClient::sendto(int socket, const unsigned char *data, size_t length, float timeout) |
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| 42 | { |
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| 43 | shared_serial::SendTo srv; |
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| 44 | |
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| 45 | srv.request.socket = socket; |
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| 46 | srv.request.data.resize(length); |
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| 47 | for (size_t ii=0; ii < length; ++ii) |
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| 48 | srv.request.data[ii] = data[ii]; |
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| 49 | srv.request.timeout = timeout; |
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| 50 | |
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| 51 | if (!sendto_service_.call(srv)) |
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| 52 | return -1; |
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| 53 | |
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| 54 | return srv.response.socket; |
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| 55 | } |
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| 56 | |
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| 57 | int SerialClient::recv(int socket, int length, float recv_timeout, float sock_timeout, unsigned char *data, size_t *data_length) |
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| 58 | { |
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| 59 | shared_serial::Recv srv; |
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| 60 | |
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| 61 | srv.request.socket = socket; |
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| 62 | srv.request.length = length; |
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| 63 | srv.request.recv_timeout = recv_timeout; |
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| 64 | srv.request.sock_timeout = sock_timeout; |
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| 65 | |
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| 66 | if (!recv_service_.call(srv)) |
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| 67 | return -1; |
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| 68 | |
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| 69 | *data_length = srv.response.data.size(); |
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| 70 | for (size_t ii=0; ii < *data_length; ++ii) |
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| 71 | data[ii] = srv.response.data[ii]; |
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| 72 | |
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| 73 | return srv.response.socket; |
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| 74 | } |
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| 75 | |
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| 76 | int SerialClient::sendrecv(int socket, const unsigned char *send_data, size_t send_length, size_t recv_length, float recv_timeout, float sock_timeout, unsigned char *recv_data, size_t *recv_data_length) |
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| 77 | { |
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| 78 | shared_serial::SendRecv srv; |
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| 79 | |
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| 80 | srv.request.socket = socket; |
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| 81 | srv.request.send_data.resize(send_length); |
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| 82 | for (size_t ii=0; ii < send_length; ++ii) |
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| 83 | srv.request.send_data[ii] = send_data[ii]; |
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| 84 | srv.request.length = recv_length; |
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| 85 | srv.request.recv_timeout = recv_timeout; |
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| 86 | srv.request.sock_timeout = sock_timeout; |
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| 87 | |
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| 88 | if (!sendrecv_service_.call(srv)) |
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| 89 | return -1; |
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| 90 | |
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| 91 | *recv_data_length = srv.response.recv_data.size(); |
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| 92 | for (size_t ii=0; ii < *recv_data_length; ++ii) |
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| 93 | recv_data[ii] = srv.response.recv_data[ii]; |
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| 94 | |
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| 95 | return srv.response.socket; |
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| 96 | } |
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| 97 | |
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| 98 | void SerialClient::send(int socket, const unsigned char *data, size_t length, float timeout) |
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| 99 | { |
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| 100 | shared_serial::Send msg; |
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| 101 | |
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| 102 | msg.socket = socket; |
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| 103 | msg.data.resize(length); |
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| 104 | for (size_t ii=0; ii < length; ++ii) |
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| 105 | msg.data[ii] = data[ii]; |
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| 106 | msg.timeout = timeout; |
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| 107 | |
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| 108 | send_topic_.publish(msg); |
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| 109 | } |
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| 110 | |
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| 111 | void SerialClient::close(int socket) |
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| 112 | { |
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| 113 | shared_serial::Close msg; |
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| 114 | |
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| 115 | msg.socket = socket; |
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| 116 | |
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| 117 | close_topic_.publish(msg); |
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| 118 | } |
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| 119 | |
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| 120 | void SerialClient::flush(int socket, float timeout) |
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| 121 | { |
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| 122 | shared_serial::Flush msg; |
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| 123 | |
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| 124 | msg.socket = socket; |
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| 125 | msg.timeout = timeout; |
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| 126 | |
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| 127 | flush_topic_.publish(msg); |
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| 128 | } |
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