dev

.gitignore

@@ -0,0 +1 @@
+CMakeLists.txt.user*

CMakeLists.txt

@@ -1,119 +1,10 @@
-cmake_minimum_required(VERSION 2.8.3)
+cmake_minimum_required(VERSION 2.8.11)
 project(rosserial_qt)
 
-## Find catkin macros and libraries
-## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
-## is used, also find other catkin packages
-find_package(catkin REQUIRED COMPONENTS
-   roscpp
-   rospy
-   std_msgs
-)
+add_definitions(-std=c++11)
 
-## System dependencies are found with CMake's conventions
-# find_package(Boost REQUIRED COMPONENTS system)
+find_package(catkin REQUIRED COMPONENTS roscpp rosserial_msgs rosserial_python rosserial_server rostest std_msgs)
 
+catkin_package()
 
-## Uncomment this if the package has a setup.py. This macro ensures
-## modules and global scripts declared therein get installed
-## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
-# catkin_python_setup()
 
-###################################
-## catkin specific configuration ##
-###################################
-## The catkin_package macro generates cmake config files for your package
-## Declare things to be passed to dependent projects
-## INCLUDE_DIRS: uncomment this if you package contains header files
-## LIBRARIES: libraries you create in this project that dependent projects also need
-## CATKIN_DEPENDS: catkin_packages dependent projects also need
-## DEPENDS: system dependencies of this project that dependent projects also need
-catkin_package(
-#  INCLUDE_DIRS include
-#  LIBRARIES rosserial_qt
-#  CATKIN_DEPENDS message_runtime
-#  DEPENDS system_lib
-)
-
-###########
-## Build ##
-###########
-
-## Specify additional locations of header files
-## Your package locations should be listed before other locations
-# include_directories(include)
-
-## Declare a C++ library
-# add_library(rosserial_qt
-#   src/${PROJECT_NAME}/rosserial_qt.cpp
-# )
-
-## Add cmake target dependencies of the library
-## as an example, code may need to be generated before libraries
-## either from message generation or dynamic reconfigure
-# add_dependencies(rosserial_qt ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Declare a C++ executable
-# add_executable(rosserial_qt_node src/rosserial_qt_node.cpp)
-
-## Add cmake target dependencies of the executable
-## same as for the library above
-# add_dependencies(rosserial_qt_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
-
-## Specify libraries to link a library or executable target against
-# target_link_libraries(rosserial_qt_node
-#   ${catkin_LIBRARIES}
-# )
-
-#############
-## Install ##
-#############
-
-# all install targets should use catkin DESTINATION variables
-# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
-
-## Mark executable scripts (Python etc.) for installation
-## in contrast to setup.py, you can choose the destination
-# install(PROGRAMS
-#   scripts/make_library.py
-#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark executables and/or libraries for installation
-# install(TARGETS rosserial_qt rosserial_qt_node
-#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
-#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
-# )
-
-## Mark cpp header files for installation
-# install(DIRECTORY include/${PROJECT_NAME}/
-#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
-#   FILES_MATCHING PATTERN "*.h"
-#   PATTERN ".svn" EXCLUDE
-# )
-
-## Mark other files for installation (e.g. launch and bag files, etc.)
-# install(FILES
-#   # myfile1
-#   # myfile2
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
-# )
-
-# install(DIRECTORY
-#   src/ros_lib
-#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/src
-# )
-
-#############
-## Testing ##
-#############
-
-## Add gtest based cpp test target and link libraries
-# catkin_add_gtest(${PROJECT_NAME}-test test/test_rosserial_qt.cpp)
-# if(TARGET ${PROJECT_NAME}-test)
-#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
-# endif()
-
-## Add folders to be run by python nosetests
-# catkin_add_nosetests(test)

README.md

@@ -0,0 +1,44 @@
+# rosserial_qt
+
+Client implementation for rosserial using the multi-platform Qt library.
+For the moment it only supports TCP/IP, but it should be easily adapted to UDP (using QUdpSocket) or serial port (using QSerialPort) communications.
+
+## Usage
+
+1. Generate the source files by running `rosrun rosserial_qt make_library.py <output_path>`
+2. Compile your client application using the library. You should add the roslib library to you include path, and add the .cpp files to your source files.
+
+Remarks:
+* Unlike other clients of rosserial, the *NodeHandle* uses a dynamically sized buffer.
+* There is no need to call spinOnce() manually : the *NodeHandle* will call spinOnce() periodically and on reception of new data
+* Unlike rosserial_arduino using C-style arrays, the message generation script will convert arrays to std::vector and std::array
+
+## Examples
+Some simple examples of applications using the library are in the *test* directory
+
+## Performance
+CPU usage is quite close to native roscpp nodes :
+
+## Supported platforms
+This library should work on all platforms supported by Qt (Linux, Windows, macos, ios, android ...)
+I have succesfully tested this library on :
+* Linux
+* Windows
+
+## Server-side configuration
+
+The current implementation needs the message length to be coded on 4 bytes (rosserial's default is 2 bytes). This has been implemented in rosserial-server, but has to be configured with the *msg_length_bytes* parameter.
+You should also configure the receive buffer size depending of your application.
+The rosserial-python server implementation will not work, as it doesn't support 4 bytes coding of the message length.
+
+Example launch file :
+```
+<launch>
+  <node pkg="rosserial_server" type="socket_node" name="rosserial_server_socket_node">
+    <param name="msg_length_bytes" value="4"/>
+    <param name="buffer_size" value="1000000"/>
+    <param name="tcp_nodelay" value="true"/>
+  </node>
+  <node pkg="rosserial_python" type="message_info_service.py" name="rosserial_message_info" />
+</launch>
+```

launch/server.launch

@@ -2,6 +2,7 @@
   <node pkg="rosserial_server" type="socket_node" name="rosserial_server_socket_node">
     <param name="msg_length_bytes" value="4"/>
     <param name="buffer_size" value="1000000"/>
+    <param name="tcp_nodelay" value="true"/>
   </node>
   <node pkg="rosserial_python" type="message_info_service.py" name="rosserial_message_info" />
 </launch>

scripts/make_library.py

@@ -495,14 +495,15 @@ def _write_std_includes(self, f):
         f.write('#include <stdint.h>\n')
         f.write('#include <string.h>\n')
         f.write('#include <stdlib.h>\n')
+        f.write('#include <string>\n')
         f.write('#include <vector>\n')
         f.write('#include <array>\n')
         f.write('#include <stdexcept>\n')
         f.write('#include <QJsonParseError>\n')
         f.write('#include <QJsonDocument>\n')
         f.write('#include <QJsonObject>\n')
         f.write('#include <QJsonArray>\n')
-        f.write('#include "ros/msg.h"\n')
+        f.write('#include <ros/msg.h>\n')
 
     def _write_msg_includes(self, f):
         for i in self.includes:
@@ -760,7 +761,7 @@ def rosserial_client_copy_files(rospack, path):
     'int32': ('int32_t', 4, PrimitiveDataType, []),
     'uint32': ('uint32_t', 4, PrimitiveDataType, []),
     'int64': ('int64_t', 8, PrimitiveDataType, []),
-    'uint64': ('uint64_t', 4, PrimitiveDataType, []),
+    'uint64': ('uint64_t', 8, PrimitiveDataType, []),
     'float32': ('float', 4, PrimitiveDataType, []),
     'float64': ('double', 8, PrimitiveDataType, []),
     'time': ('ros::Time', 8, TimeDataType, ['ros/time']),
@@ -794,7 +795,8 @@ def main():
 
     # copy ros_lib stuff in
     src_dir = rospack.get_path("rosserial_qt")
-    #shutil.copytree(src_dir + "/src/ros_lib", path + "/ros_lib")
+    shutil.rmtree(path + "/ros_lib", ignore_errors = True)
+    shutil.copytree(src_dir + "/src/ros_lib", path + "/ros_lib")
 
     rosserial_generate(rospack, path + "/ros_lib")
 

src/ros_lib/ros/node_handle.h

@@ -91,7 +91,10 @@ const uint8_t MODE_MESSAGE        = 9;
 const uint8_t MODE_MSG_CHECKSUM   = 10;    // checksum for msg and topic id
 
 const uint32_t SERIAL_MSG_TIMEOUT  = 2000;   // 2000 milliseconds to recieve all of message data
-const uint32_t READ_BUFFER_SIZE = 4096;
+const uint32_t READ_BUFFER_SIZE = 4096; // at each read() we will ask up to READ_BUFFER_SIZE bytes
+
+const size_t MESSAGE_HEADER_BYTES = 10; // size of the header
+const size_t BUFFER_OVER_ALLOCATION = 100*1024; //if the tx or rx buffer hasn't enough capacity, we will allocate this more
 
 using rosserial_msgs::TopicInfo;
 
@@ -121,7 +124,7 @@ class NodeHandle : public NodeHandleBase_
        * Setup Functions
        */
 public:
-  NodeHandle(uint32_t input_size=10000000, uint32_t output_size=10000000, QObject *parent=0) :
+  NodeHandle(uint32_t input_size=10000, uint32_t output_size=10000, QObject *parent=0) :
     NodeHandleBase_(parent),
     INPUT_SIZE(input_size),
     OUTPUT_SIZE(output_size),
@@ -272,6 +275,13 @@ class NodeHandle : public NodeHandleBase_
         }else if( mode_ == MODE_TOPIC_H ){  /* top half of topic id */
           topic_ += data<<8;
           mode_ = MODE_MESSAGE;
+
+          // if needed expand buffer
+          if(bytes_ + MESSAGE_HEADER_BYTES > message_in.size())
+          {
+            message_in.resize(bytes_ + MESSAGE_HEADER_BYTES + BUFFER_OVER_ALLOCATION);
+          }
+
           if(bytes_ == 0)
             mode_ = MODE_MSG_CHECKSUM;
         }else if( mode_ == MODE_MSG_CHECKSUM ){ /* do checksum */
@@ -381,8 +391,8 @@ class NodeHandle : public NodeHandleBase_
   }
 
   /* Register a new Service Server */
-  template<typename MReq, typename MRes, typename ObjT>
-  bool advertiseService(ServiceServer<MReq,MRes,ObjT>& srv){
+  template<typename MType>
+  bool advertiseService(ServiceServer<MType>& srv){
     bool v = advertise(srv.pub);
     size_t i = subscribers.size();
     subscribers.push_back(static_cast<Subscriber_*>(&srv));
@@ -438,13 +448,19 @@ class NodeHandle : public NodeHandleBase_
 
     /* serialize message */
     size_t expected_l = msg->serialize_size();
-    if( expected_l+9 >= OUTPUT_SIZE ){
-      logerror("Message from device dropped: message larger than buffer.");
-      return -1;
+
+    if(expected_l + MESSAGE_HEADER_BYTES > message_out.size())
+    {
+      message_out.resize(expected_l + MESSAGE_HEADER_BYTES + BUFFER_OVER_ALLOCATION);
     }
 
     size_t l = msg->serialize(message_out.data()+9);
 
+    if(expected_l != l)
+    {
+      logerror("Internal error : expected_l != l ; memory could be corrupted");
+    }
+
     /* setup the header */
     message_out[0] = 0xff;
     message_out[1] = PROTOCOL_VER;
@@ -463,19 +479,13 @@ class NodeHandle : public NodeHandleBase_
       chk += message_out[i];
     message_out[l++] = 255 - (chk%256);
 
-    if( l <= OUTPUT_SIZE ){
-      hardware_.write(message_out.data(), l);
-      return l;
-    }else{
-      logerror("Message from device dropped: message larger than buffer.");
-      return -1;
-    }
+    hardware_.write(message_out.data(), l);
+    return l;
   }
 
 private slots:
   void onReadyRead()
   {
-    std::cout << "ready read" << std::endl;
     spinOnce();
   }
 

src/ros_lib/ros/service_client.h

@@ -46,19 +46,19 @@ namespace ros {
   template<typename MType>
   class ServiceClient : public Subscriber_  {
 
-    typedef typename MType::Request MReq;
-    typedef typename MType::Response MRes;
-    typedef std::function<void(const MRes&)> CallBackT;
-
     public:
+      typedef typename MType::Request MReq;
+      typedef typename MType::Response MRes;
+      typedef std::function<void(const MRes&)> CallbackT;
+
       ServiceClient(const char* topic_name) : 
         pub(topic_name, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER)
       {
         this->topic_ = topic_name;
         this->waiting = false;
       }
 
-      void call(const MReq & request, CallBackT callback)
+      void call(const MReq & request, CallbackT callback)
       {
         if(waiting)
         {
@@ -88,7 +88,7 @@ namespace ros {
       }
 
       bool waiting;
-      CallBackT cb_;
+      CallbackT cb_;
 
   public:
       Publisher<MReq> pub;