gpio_node.cpp
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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
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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 }


bosch_drivers_basic_nodes
Author(s): Joshua Vasquez, Philip Roan. Maintained by Philip Roan
autogenerated on Sat Dec 28 2013 16:49:50