gpio_node.cpp

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//\Author Kai Franke, Robert Bosch LLC

// ROS headers
#include <ros/ros.h>

#include <gpio_driver/gpio_driver.h>
#include <arduino_interface.hpp> 

#define OUTPUT_PIN 4
#define INPUT_PIN 3

int main( int argc, char **argv )
{
  
  //ROS initialization and publisher/subscriber setup
  ros::init( argc, argv, "GPIO_Driver" );
  ros::NodeHandle nh("~");

  std::string hw_id;
  
  // Get parameters from .launch file or parameter server, or take defaults
  nh.param<std::string>( "hardware_id", hw_id, "/dev/ttyACM0" );

  NewArduinoInterface Arduino( hw_id );

  GpioDriver* gpio_input = new GpioDriver( &Arduino, INPUT_PIN );
  GpioDriver* gpio_output = new GpioDriver( &Arduino, OUTPUT_PIN );
        
  if( gpio_input->initialize() == false || gpio_output->initialize() == false )
  {
    ROS_ERROR("Error initializing GPIO driver");
    return -1;
  }
  
  ros::Rate loop_rate_Hz(10);
  loop_rate_Hz.sleep();
  
  bool value = 1;
  bool value2 = 0;
        
  while( nh.ok() )
  {
    if( !gpio_output->set( value ) )
    {
      return -1;
    }
      
    value = !value;
    
    value2 = gpio_input->get( bosch_drivers_common::FLOATING );
    ROS_INFO("Read value %i", value2);
      
    ros::spinOnce();
    loop_rate_Hz.sleep();
  }
  
  ROS_WARN( "Closing GPIO driver." );
  return 0;  
}