From: Walter Fetter Lages Date: Fri, 18 May 2018 14:18:41 +0000 (-0300) Subject: Initial commit. X-Git-Url: http://git.ece.ufrgs.br/?a=commitdiff_plain;h=bf60ead9f583534355e12c3905eaf127d9df5ed6;p=gfxtablet_ros.git Initial commit. --- bf60ead9f583534355e12c3905eaf127d9df5ed6 diff --git a/.gitignore b/.gitignore new file mode 100644 index 0000000..c1edc29 --- /dev/null +++ b/.gitignore @@ -0,0 +1,51 @@ +devel/ +logs/ +build/ +bin/ +lib/ +msg_gen/ +srv_gen/ +msg/*Action.msg +msg/*ActionFeedback.msg +msg/*ActionGoal.msg +msg/*ActionResult.msg +msg/*Feedback.msg +msg/*Goal.msg +msg/*Result.msg +msg/_*.py +build_isolated/ +devel_isolated/ + +# Generated by dynamic reconfigure +*.cfgc +/cfg/cpp/ +/cfg/*.py + +# Ignore generated docs +#*.dox +*.wikidoc + +# eclipse stuff +.project +.cproject + +# qcreator stuff +CMakeLists.txt.user + +srv/_*.py +*.pcd +*.pyc +qtcreator-* +*.user + +/planning/cfg +/planning/docs +/planning/src + +*~ + +# Emacs +.#* + +# Catkin custom files +CATKIN_IGNORE diff --git a/CMakeLists.txt b/CMakeLists.txt new file mode 100644 index 0000000..3718678 --- /dev/null +++ b/CMakeLists.txt @@ -0,0 +1,198 @@ +cmake_minimum_required(VERSION 2.8.3) +project(gfxtablet_ros) + +## Compile as C++11, supported in ROS Kinetic and newer +# add_compile_options(-std=c++11) + +## 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 + sensor_msgs +) + +## System dependencies are found with CMake's conventions +# find_package(Boost REQUIRED COMPONENTS system) + + +## 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() + +################################################ +## Declare ROS messages, services and actions ## +################################################ + +## To declare and build messages, services or actions from within this +## package, follow these steps: +## * Let MSG_DEP_SET be the set of packages whose message types you use in +## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). +## * In the file package.xml: +## * add a build_depend tag for "message_generation" +## * add a build_depend and a run_depend tag for each package in MSG_DEP_SET +## * If MSG_DEP_SET isn't empty the following dependency has been pulled in +## but can be declared for certainty nonetheless: +## * add a run_depend tag for "message_runtime" +## * In this file (CMakeLists.txt): +## * add "message_generation" and every package in MSG_DEP_SET to +## find_package(catkin REQUIRED COMPONENTS ...) +## * add "message_runtime" and every package in MSG_DEP_SET to +## catkin_package(CATKIN_DEPENDS ...) +## * uncomment the add_*_files sections below as needed +## and list every .msg/.srv/.action file to be processed +## * uncomment the generate_messages entry below +## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) + +## Generate messages in the 'msg' folder +# add_message_files( +# FILES +# Message1.msg +# Message2.msg +# ) + +## Generate services in the 'srv' folder +# add_service_files( +# FILES +# Service1.srv +# Service2.srv +# ) + +## Generate actions in the 'action' folder +# add_action_files( +# FILES +# Action1.action +# Action2.action +# ) + +## Generate added messages and services with any dependencies listed here +# generate_messages( +# DEPENDENCIES +# sensor_msgs +# ) + +################################################ +## Declare ROS dynamic reconfigure parameters ## +################################################ + +## To declare and build dynamic reconfigure parameters within this +## package, follow these steps: +## * In the file package.xml: +## * add a build_depend and a run_depend tag for "dynamic_reconfigure" +## * In this file (CMakeLists.txt): +## * add "dynamic_reconfigure" to +## find_package(catkin REQUIRED COMPONENTS ...) +## * uncomment the "generate_dynamic_reconfigure_options" section below +## and list every .cfg file to be processed + +## Generate dynamic reconfigure parameters in the 'cfg' folder +# generate_dynamic_reconfigure_options( +# cfg/DynReconf1.cfg +# cfg/DynReconf2.cfg +# ) + +################################### +## 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 gfxtablet_ros +# CATKIN_DEPENDS roscpp sensor_msgs +# DEPENDS system_lib +) + +########### +## Build ## +########### + +## Specify additional locations of header files +## Your package locations should be listed before other locations +include_directories( + include + ${catkin_INCLUDE_DIRS} +) + +## Declare a C++ library +# add_library(${PROJECT_NAME} +# src/${PROJECT_NAME}/gfxtablet_ros.cpp +# ) + +## Add cmake target dependencies of the library +## as an example, code may need to be generated before libraries +## either from message generation or dynamic reconfigure +# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Declare a C++ executable +## With catkin_make all packages are built within a single CMake context +## The recommended prefix ensures that target names across packages don't collide +add_executable(gfxtablet_node src/gfxtablet_node.cpp) + +## Rename C++ executable without prefix +## The above recommended prefix causes long target names, the following renames the +## target back to the shorter version for ease of user use +## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" +# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") + +## Add cmake target dependencies of the executable +## same as for the library above +# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) + +## Specify libraries to link a library or executable target against +target_link_libraries(gfxtablet_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/my_python_script +# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} +# ) + +## Mark executables and/or libraries for installation +#install(TARGETS ${PROJECT_NAME} gfxtablet_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 ${CATKIN_PACKAGE_SHARE_DESTINATION} +# ) + +############# +## Testing ## +############# + +## Add gtest based cpp test target and link libraries +# catkin_add_gtest(${PROJECT_NAME}-test test/test_gfxtablet_ros.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) diff --git a/include/gfxtablet_ros/protocol.h b/include/gfxtablet_ros/protocol.h new file mode 100644 index 0000000..17f362f --- /dev/null +++ b/include/gfxtablet_ros/protocol.h @@ -0,0 +1,32 @@ +#define GFXTABLET_PORT 40118 + +#define PROTOCOL_VERSION 2 + + +#pragma pack(push) +#pragma pack(1) + +#define EVENT_TYPE_MOTION 0 +#define EVENT_TYPE_BUTTON 1 + +struct event_packet +{ + char signature[9]; + uint16_t version; + uint8_t type; /* EVENT_TYPE_... */ + struct { /* required */ + uint16_t x, y; + uint16_t pressure; + }; + + struct { /* only required for EVENT_TYPE_BUTTON */ + int8_t button; /* button id: + -1 = stylus in range, + 0 = tap/left click/button 0, + 1 = button 1, + 2 = button 2 */ + int8_t down; /* 1 = button down, 0 = button up */ + }; +}; + +#pragma pack(pop) diff --git a/launch/gfxtablet.launch b/launch/gfxtablet.launch new file mode 100644 index 0000000..315b98c --- /dev/null +++ b/launch/gfxtablet.launch @@ -0,0 +1,4 @@ + + + diff --git a/package.xml b/package.xml new file mode 100644 index 0000000..62d998a --- /dev/null +++ b/package.xml @@ -0,0 +1,55 @@ + + + gfxtablet_ros + 0.0.0 + The gfxtablet_ros package + + + + + Walter Fetter Lages + + + + + + GPLv3 + + + + + + + + + + + + + Walter Fetter Lages + + + + + + + + + + + + + + catkin + roscpp + sensor_msgs + roscpp + sensor_msgs + + + + + + + + diff --git a/src/gfxtablet_node.cpp b/src/gfxtablet_node.cpp new file mode 100644 index 0000000..385605c --- /dev/null +++ b/src/gfxtablet_node.cpp @@ -0,0 +1,108 @@ +/* + gfxtablet_node: A ROS node publishing GfxTablet messages in a Joy message. + + Copyright (c) 2016, 2018 Walter Fetter Lages + + This program is free software; you can redistribute it and/or modify + it under the terms of the GNU General Public License as published by + the Free Software Foundation; either version 2 of the License, or + (at your option) any later version. + + This program is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + GNU General Public License for more details. + + You should have received a copy of the GNU General Public License + along with this program; if not, write to the Free Software + Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA. + + You can also obtain a copy of the GNU General Public License + at . + +*/ + +#include +#include + +#include +#include + +#include + +int main(int argc,char* argv[]) +{ + ros::init(argc,argv,"gfxtablet_node"); + ros::NodeHandle node; + + int udp_socket; + if((udp_socket=socket(AF_INET,SOCK_DGRAM,IPPROTO_UDP)) == -1) + { + ROS_ERROR_STREAM("socket():" << strerror(errno) << "\n"); + return -EXIT_FAILURE; + } + + struct sockaddr_in addr; + bzero(&addr,sizeof(struct sockaddr_in)); + addr.sin_family=AF_INET; + addr.sin_port=htons(GFXTABLET_PORT); + addr.sin_addr.s_addr=htonl(INADDR_ANY); + + if(bind(udp_socket,(struct sockaddr *)&addr,sizeof(addr)) == -1) + { + ROS_ERROR_STREAM("bind():" << strerror(errno) << "\n"); + return -EXIT_FAILURE; + } + + struct event_packet ev_pkt; + + ros::Publisher pub=node.advertise("joy",100); + sensor_msgs::Joy joy; + joy.axes.resize(3); + joy.buttons.resize(2); + + ros::Rate loop(100); + // every packet has at least 9 bytes + while(ros::ok()) + { + ros::spinOnce(); + + if(recv(udp_socket,&ev_pkt,sizeof(ev_pkt),0) < 9) continue; + + if(memcmp(ev_pkt.signature,"GfxTablet",9) != 0) + { + ROS_WARN_STREAM("\nGot unknown packet on port " + << GFXTABLET_PORT << ", ignoring\n"); + continue; + } + ev_pkt.version=ntohs(ev_pkt.version); + if(ev_pkt.version != PROTOCOL_VERSION) + { + ROS_ERROR_STREAM("\nGfxTablet app speaks protocol version " << ev_pkt.version + << " but this program speaks version " << PROTOCOL_VERSION + << ", please update\n"); + break; + } + + joy.header.stamp=ros::Time::now(); + joy.axes[0]=double(ntohs(ev_pkt.x))/UINT16_MAX*2.0 - 1.0; + joy.axes[1]=double(ntohs(ev_pkt.y))/UINT16_MAX*2.0 - 1.0; + joy.axes[2]=double(ntohs(ev_pkt.pressure))/UINT16_MAX*2.0 - 1.0; + + switch(ev_pkt.type) + { + case EVENT_TYPE_MOTION: + break; + case EVENT_TYPE_BUTTON: + if(joy.buttons.size() < ev_pkt.button+2) joy.buttons.resize(ev_pkt.button+2); + joy.buttons[ev_pkt.button+1]=ev_pkt.down; + break; + } + + pub.publish(joy); + } + close(udp_socket); + pub.shutdown(); + + return 0; +}