serial_node.py
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00001 #!/usr/bin/env python
00002 
00003 #####################################################################
00004 # Software License Agreement (BSD License)
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00006 # Copyright (c) 2011, Willow Garage, Inc.
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00009 # Redistribution and use in source and binary forms, with or without
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00013 #  * Redistributions of source code must retain the above copyright
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00015 #  * Redistributions in binary form must reproduce the above
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00017 #    disclaimer in the documentation and/or other materials provided
00018 #    with the distribution.
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00035 
00036 __author__ = "mferguson@willowgarage.com (Michael Ferguson)"
00037 
00038 import rospy
00039 from rosserial_python import SerialClient, RosSerialServer
00040 import multiprocessing
00041 
00042 import sys
00043    
00044 if __name__=="__main__":
00045 
00046     rospy.init_node("serial_node")
00047     rospy.loginfo("ROS Serial Python Node")
00048 
00049     port_name = rospy.get_param('~port','/dev/ttyUSB0')
00050     baud = int(rospy.get_param('~baud','57600'))
00051 
00052     # TODO: should these really be global?
00053     tcp_portnum = int(rospy.get_param('/rosserial_embeddedlinux/tcp_port', '11411'))
00054     fork_server = rospy.get_param('/rosserial_embeddedlinux/fork_server', False)
00055 
00056     # TODO: do we really want command line params in addition to parameter server params?
00057     sys.argv = rospy.myargv(argv=sys.argv)
00058     if len(sys.argv) == 2 :
00059         port_name  = sys.argv[1]
00060     if len(sys.argv) == 3 :
00061         tcp_portnum = int(sys.argv[2])
00062     
00063     if port_name == "tcp" :
00064         server = RosSerialServer(tcp_portnum, fork_server)
00065         rospy.loginfo("Waiting for socket connections on port %d" % tcp_portnum)
00066         try:
00067             server.listen()
00068         except KeyboardInterrupt:
00069             rospy.loginfo("got keyboard interrupt")
00070         finally:
00071             rospy.loginfo("Shutting down")
00072             for process in multiprocessing.active_children():
00073                 rospy.loginfo("Shutting down process %r", process)
00074                 process.terminate()
00075                 process.join()
00076             rospy.loginfo("All done")
00077 
00078     else :          # Use serial port 
00079         rospy.loginfo("Connecting to %s at %d baud" % (port_name,baud) )
00080         client = SerialClient(port_name, baud)
00081         try:
00082             client.run()
00083         except KeyboardInterrupt:
00084             pass
00085 


rosserial_python
Author(s): Michael Ferguson
autogenerated on Fri Aug 28 2015 12:44:45