00001 /********************************************************************* 00002 * 00003 * Software License Agreement (BSD License) 00004 * 00005 * Copyright (c) 2013, Robert Bosch LLC. 00006 * All rights reserved. 00007 * 00008 * Redistribution and use in source and binary forms, with or without 00009 * modification, are permitted provided that the following conditions 00010 * are met: 00011 * 00012 * * Redistributions of source code must retain the above copyright 00013 * notice, this list of conditions and the following disclaimer. 00014 * * Redistributions in binary form must reproduce the above 00015 * copyright notice, this list of conditions and the following 00016 * disclaimer in the documentation and/or other materials provided 00017 * with the distribution. 00018 * * Neither the name of the Robert Bosch nor the names of its 00019 * contributors may be used to endorse or promote products derived 00020 * from this software without specific prior written permission. 00021 * 00022 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00023 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00024 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00025 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00026 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00027 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00028 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00029 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00030 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 *********************************************************************/ 00036 00037 //\Author Kai Franke, Robert Bosch LLC 00038 00039 // ROS headers 00040 #include <ros/ros.h> 00041 00042 #include <gpio_driver/gpio_driver.h> 00043 #include <arduino_interface.hpp> 00044 00045 #define OUTPUT_PIN 4 00046 #define INPUT_PIN 3 00047 00048 int main( int argc, char **argv ) 00049 { 00050 00051 //ROS initialization and publisher/subscriber setup 00052 ros::init( argc, argv, "GPIO_Driver" ); 00053 ros::NodeHandle nh("~"); 00054 00055 std::string hw_id; 00056 00057 // Get parameters from .launch file or parameter server, or take defaults 00058 nh.param<std::string>( "hardware_id", hw_id, "/dev/ttyACM0" ); 00059 00060 NewArduinoInterface Arduino( hw_id ); 00061 00062 GpioDriver* gpio_input = new GpioDriver( &Arduino, INPUT_PIN ); 00063 GpioDriver* gpio_output = new GpioDriver( &Arduino, OUTPUT_PIN ); 00064 00065 if( gpio_input->initialize() == false || gpio_output->initialize() == false ) 00066 { 00067 ROS_ERROR("Error initializing GPIO driver"); 00068 return -1; 00069 } 00070 00071 ros::Rate loop_rate_Hz(10); 00072 loop_rate_Hz.sleep(); 00073 00074 bool value = 1; 00075 bool value2 = 0; 00076 00077 while( nh.ok() ) 00078 { 00079 if( !gpio_output->set( value ) ) 00080 { 00081 return -1; 00082 } 00083 00084 value = !value; 00085 00086 value2 = gpio_input->get( bosch_drivers_common::FLOATING ); 00087 ROS_INFO("Read value %i", value2); 00088 00089 ros::spinOnce(); 00090 loop_rate_Hz.sleep(); 00091 } 00092 00093 ROS_WARN( "Closing GPIO driver." ); 00094 return 0; 00095 }