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Separated nao_dcm_camera class from nao_dcm_camera node..

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This commit is contained in:
Konstantinos Chatzilygeroudis 2014-05-17 19:18:57 +03:00
parent 10c98dc890
commit d567d7b1d6
3 changed files with 110 additions and 86 deletions
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2
nao_dcm_apps/nao_dcm_camera/CMakeLists.txt
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@ -36,7 +36,7 @@ if( NAOqi_FOUND AND Boost_FOUND)
${catkin_INCLUDE_DIRS} ${catkin_INCLUDE_DIRS}
${NAOqi_INCLUDE_DIRS} ${NAOqi_INCLUDE_DIRS}
${Boost_INCLUDE_DIRS}) ${Boost_INCLUDE_DIRS})
add_executable(nao_dcm_camera src/nao_camera.cpp) add_executable(nao_dcm_camera src/nao_camera_node.cpp src/nao_camera.cpp)
target_link_libraries(nao_dcm_camera target_link_libraries(nao_dcm_camera
${catkin_LIBRARIES} ${catkin_LIBRARIES}
${NAOqi_LIBRARIES} ${NAOqi_LIBRARIES}

85
nao_dcm_apps/nao_dcm_camera/src/nao_camera.cpp
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@ -22,8 +22,6 @@ OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISE
#include <iostream> #include <iostream>
#include "nao_dcm_camera/nao_camera.h" #include "nao_dcm_camera/nao_camera.h"
#include <alcommon/albroker.h>
#include <alcommon/albrokermanager.h>
using std::vector; using std::vector;
@ -382,86 +380,3 @@ void NaoCamera::dynamicReconfigureCb(nao_dcm_camera::NaoDCMCameraConfig &config,
reconfiguring_ = false; reconfiguring_ = false;
} }
int main( int argc, char** argv )
{
int pport = 9559;
string pip = "127.0.0.1";
ros::init(argc, argv, "nao_dcm_camera");
ros::NodeHandle n;
ros::NodeHandle n_p("~");
ros::NodeHandle top("CameraTopNode"), bottom("CameraBottomNode");
if(!ros::master::check())
{
cerr<<"Could not contact master!\nQuitting... "<<endl;
return -1;
}
// A broker needs a name, an IP and a port:
string broker_name = "Nao Camera Broker";
// FIXME: would be a good idea to look for a free port first
int broker_port = 54001;
// listen port of the broker (here an anything)
string broker_ip = "0.0.0.0";
double communication_rate;
// Load Params from Parameter Server
n_p.param("RobotIP", pip, string("127.0.0.1"));
n_p.param("RobotPort", pport,9559);
n_p.param("CameraBrokerPort", broker_port, 54001);
n_p.param("CameraBrokerIP", broker_ip, string("0.0.0.0"));
n_p.param("CameraFrequency", communication_rate, 30.0);
// Create your own broker
boost::shared_ptr<AL::ALBroker> broker;
try
{
broker = AL::ALBroker::createBroker(broker_name,broker_ip,broker_port,pip,pport,0);
}
catch(...)
{
ROS_ERROR("Failed to connect to Broker at %s:%d!",pip.c_str(),pport);
AL::ALBrokerManager::getInstance()->removeBroker(broker);
return -1;
}
// Deal with ALBrokerManager singleton (add your broker into NAOqi)
AL::ALBrokerManager::setInstance(broker->fBrokerManager.lock());
AL::ALBrokerManager::getInstance()->addBroker(broker);
// Now it's time to load your module
boost::shared_ptr<NaoCamera> nao_cam = AL::ALModule::createModule<NaoCamera>(broker, "NaoCamera");
nao_cam->connect(n,top,bottom);
if(!nao_cam->connected())
{
ROS_ERROR("Could not connect to Nao robot!");
AL::ALBrokerManager::getInstance()->killAllBroker();
AL::ALBrokerManager::kill();
return -1;
}
ros::Rate rate(communication_rate);
// Run the spinner in a separate thread to prevent lockups
ros::AsyncSpinner spinner(1);
spinner.start();
if(broker->isModulePresent("NaoCamera"))
ROS_INFO("NaoCamera Module loaded succesfully!");
else
{
ROS_ERROR("NaoCamera Module is not loaded!");
return -1;
}
while(ros::ok())
{
nao_cam->loop(ros::Time::now(), rate.expectedCycleTime());
if(!nao_cam->connected())
{
ROS_WARN("NaoCamera unexpectedly disconnected!");
break;
}
rate.sleep();
}
AL::ALBrokerManager::getInstance()->killAllBroker();
AL::ALBrokerManager::kill();
spinner.stop();
ROS_INFO( "Quitting... " );
return 0;
}

109
nao_dcm_apps/nao_dcm_camera/src/nao_camera_node.cpp Normal file
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@ -0,0 +1,109 @@
/**
Copyright (c) 2014, Konstantinos Chatzilygeroudis
All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:
1. Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer
in the documentation and/or other materials provided with the distribution.
3. Neither the name of the copyright holder nor the names of its contributors may be used to endorse or promote products derived
from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING,
BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT
SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
**/
#include <iostream>
#include "nao_dcm_camera/nao_camera.h"
#include <alcommon/albroker.h>
#include <alcommon/albrokermanager.h>
int main( int argc, char** argv )
{
int pport = 9559;
string pip = "127.0.0.1";
ros::init(argc, argv, "nao_dcm_camera");
ros::NodeHandle n;
ros::NodeHandle n_p("~");
ros::NodeHandle top("CameraTopNode"), bottom("CameraBottomNode");
if(!ros::master::check())
{
cerr<<"Could not contact master!\nQuitting... "<<endl;
return -1;
}
// A broker needs a name, an IP and a port:
string broker_name = "Nao Camera Broker";
// FIXME: would be a good idea to look for a free port first
int broker_port = 54001;
// listen port of the broker (here an anything)
string broker_ip = "0.0.0.0";
double communication_rate;
// Load Params from Parameter Server
n_p.param("RobotIP", pip, string("127.0.0.1"));
n_p.param("RobotPort", pport,9559);
n_p.param("CameraBrokerPort", broker_port, 54001);
n_p.param("CameraBrokerIP", broker_ip, string("0.0.0.0"));
n_p.param("CameraFrequency", communication_rate, 30.0);
// Create your own broker
boost::shared_ptr<AL::ALBroker> broker;
try
{
broker = AL::ALBroker::createBroker(broker_name,broker_ip,broker_port,pip,pport,0);
}
catch(...)
{
ROS_ERROR("Failed to connect to Broker at %s:%d!",pip.c_str(),pport);
AL::ALBrokerManager::getInstance()->removeBroker(broker);
return -1;
}
// Deal with ALBrokerManager singleton (add your broker into NAOqi)
AL::ALBrokerManager::setInstance(broker->fBrokerManager.lock());
AL::ALBrokerManager::getInstance()->addBroker(broker);
// Now it's time to load your module
boost::shared_ptr<NaoCamera> nao_cam = AL::ALModule::createModule<NaoCamera>(broker, "NaoCamera");
nao_cam->connect(n,top,bottom);
if(!nao_cam->connected())
{
ROS_ERROR("Could not connect to Nao robot!");
AL::ALBrokerManager::getInstance()->killAllBroker();
AL::ALBrokerManager::kill();
return -1;
}
ros::Rate rate(communication_rate);
// Run the spinner in a separate thread to prevent lockups
ros::AsyncSpinner spinner(1);
spinner.start();
if(broker->isModulePresent("NaoCamera"))
ROS_INFO("NaoCamera Module loaded succesfully!");
else
{
ROS_ERROR("NaoCamera Module is not loaded!");
return -1;
}
while(ros::ok())
{
nao_cam->loop(ros::Time::now(), rate.expectedCycleTime());
if(!nao_cam->connected())
{
ROS_WARN("NaoCamera unexpectedly disconnected!");
break;
}
rate.sleep();
}
AL::ALBrokerManager::getInstance()->killAllBroker();
AL::ALBrokerManager::kill();
spinner.stop();
ROS_INFO( "Quitting... " );
return 0;
}