dev

scripts/make_library.py

@@ -460,7 +460,7 @@ def _write_deserializer(self, f):
         f.write('      size_t offset = 0;\n')
         for d in self.data:
             d.deserialize(f)
-        f.write('     return offset;\n');
+        f.write('      return offset;\n');
         f.write('    }\n')
         f.write('\n')
 

src/ros_lib/RosQtSocket.cpp

@@ -1,46 +1,51 @@
 #include "ros/RosQtSocket.h"
 
-#define DEFAULT_PORT 11411
-
 using std::string;
 using std::cerr;
 using std::endl;
 
 
 RosQtSocket::RosQtSocket(QObject *parent):
-  QObject(parent)
+  QObject(parent),
+  socket_valid_(false)
 {
-  QObject::connect(&m_socket, SIGNAL(readyRead()), this, SIGNAL(readyRead()));
-  QObject::connect(&m_socket, SIGNAL(connected()), this, SLOT(onConnected()));
+  QObject::connect(&socket_, SIGNAL(readyRead()), this, SIGNAL(readyRead()));
+  QObject::connect(&socket_, SIGNAL(connected()), this, SLOT(onConnected()));
 }
 
 void RosQtSocket::doConnect()
 {
-  if(m_socket.state() == QAbstractSocket::UnconnectedState)
+  if(socket_.state() == QAbstractSocket::UnconnectedState)
   {
-    m_socket.connectToHost(m_address, m_port);
+    socket_.connectToHost(address_, port_);
   }
 
 }
 
-void RosQtSocket::init(const std::string &server_hostname)
+void RosQtSocket::open(const std::string &server_hostname, uint16_t port)
 {
-  m_address = QHostAddress(QString::fromStdString(server_hostname));
-  m_port = DEFAULT_PORT;
+  socket_valid_ = true;
+  address_ = QHostAddress(QString::fromStdString(server_hostname));
+  port_ = port;
 
   doConnect();
 }
 
+void RosQtSocket::close()
+{
+  socket_.close();
+}
+
 int64_t RosQtSocket::read(unsigned char *data, int max_length)
 {
-  if(m_socket.state() != QAbstractSocket::ConnectedState)
+  if(socket_.state() != QAbstractSocket::ConnectedState)
   {
     std::cerr << "Failed to receive data from server, not connected " << std::endl;
     doConnect();
     return -1;
   }
 
-  int64_t result = m_socket.read((char*)data, max_length);
+  int64_t result = socket_.read((char*)data, max_length);
   if(result < 0)
   {
     std::cerr << "Failed to receive data from server" << std::endl;
@@ -52,15 +57,15 @@ int64_t RosQtSocket::read(unsigned char *data, int max_length)
 
 bool RosQtSocket::write(const unsigned char *data, int length)
 {
-  if(m_socket.state() != QAbstractSocket::ConnectedState)
+  if(socket_valid_ && socket_.state() != QAbstractSocket::ConnectedState)
   {
     std::cerr << "Failed to write data to the server, not connected " << std::endl;
     doConnect();
     return false;
   }
   else
   {
-    qint64 result = m_socket.write((const char*)data, length);
+    qint64 result = socket_.write((const char*)data, length);
     if(result != length)
     {
       std::cerr << "Failed to write all the data to the server" << std::endl;
@@ -78,5 +83,5 @@ unsigned long RosQtSocket::time()
 
 void RosQtSocket::onConnected()
 {
-  m_socket.setSocketOption(QAbstractSocket::LowDelayOption, 1);
+  socket_.setSocketOption(QAbstractSocket::LowDelayOption, 1);
 }

src/ros_lib/ros/RosQtSocket.h

@@ -43,7 +43,9 @@ class RosQtSocket : public QObject
 
   void doConnect();
 
-  void init (const std::string &server_hostname);
+  void open (const std::string &server_hostname, uint16_t port);
+
+  void close ();
 
   int64_t read (unsigned char *data, int max_length);
 
@@ -58,9 +60,10 @@ private slots:
   void readyRead();
 
 private:
-  QTcpSocket m_socket;
-  quint16 m_port;
-  QHostAddress m_address;
+  QTcpSocket socket_;
+  bool socket_valid_;
+  quint16 port_;
+  QHostAddress address_;
 };
 
 #endif

src/ros_lib/ros/node_handle.h

@@ -121,14 +121,15 @@ class NodeHandle : public NodeHandleBase_
   uint32_t OUTPUT_SIZE;
 
   /*
-       * Setup Functions
-       */
+  * Setup Functions
+  */
 public:
   NodeHandle(uint32_t input_size=10000, uint32_t output_size=10000, QObject *parent=0) :
     NodeHandleBase_(parent),
     INPUT_SIZE(input_size),
     OUTPUT_SIZE(output_size),
-    configured_(false)
+    configured_(false),
+    isActive_(false)
   {
     message_in.resize(INPUT_SIZE);
     message_out.resize(OUTPUT_SIZE);
@@ -149,20 +150,23 @@ class NodeHandle : public NodeHandleBase_
     spinOnce();
   }
 
-  /* Start serial, initialize buffers */
-  void initNode(){
-
-  }
-
   /* Start a named port, which may be network server IP, initialize buffers */
-  void initNode(const std::string &portName){
-    hardware_.init(portName);
+  void open(const std::string &hostName, uint16_t port = 11411){
+    isActive_ = true;
+    hardware_.open(hostName, port);
     mode_ = 0;
     bytes_ = 0;
     index_ = 0;
     topic_ = 0;
   }
 
+  void close()
+  {
+    isActive_ = false;
+    configured_ = false;
+    hardware_.close();
+  }
+
 protected:
   //State machine variables for spinOnce
   int mode_;
@@ -172,6 +176,7 @@ class NodeHandle : public NodeHandleBase_
   unsigned int checksum_;
 
   bool configured_;
+  bool isActive_; // true if we should try to connect
 
   /* used for syncing the time */
   uint32_t last_sync_time;
@@ -187,6 +192,9 @@ class NodeHandle : public NodeHandleBase_
   virtual int spinOnce(){
     unsigned char buffer[READ_BUFFER_SIZE];
 
+    if(!isActive_)
+        return 0;
+
     /* restart if timed out */
     uint32_t c_time = hardware_.time();
     if( (c_time - last_sync_receive_time) > (SYNC_SECONDS*2200) ){

test/Basic/Basic.pro.user

@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE QtCreatorProject>
-<!-- Written by QtCreator 4.3.1, 2017-10-09T12:44:22. -->
+<!-- Written by QtCreator 4.4.1, 2017-10-24T14:20:38. -->
 <qtcreator>
  <data>
   <variable>EnvironmentId</variable>

test/Basic/node.cpp

@@ -18,7 +18,7 @@ Node::Node():
   std::string ros_master = "127.0.0.1";
 
   printf ("Connecting to server at %s\n", ros_master.c_str());
-  nh.initNode (ros_master.c_str());
+  nh.open (ros_master.c_str());
 
   nh.subscribe (poseSub);
   nh.advertise(chatter);