digital_outputs_ros_i.cpp

/*
 * Copyright (c) 2019, Open Source Robotics Foundation
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * 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.
 *     * 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 OWNER 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 <functional>
#include <memory>
#include <string>

#include <rclcpp/rclcpp.hpp>
#include <rclcpp_components/register_node_macro.hpp>
#include <std_msgs/msg/bool.hpp>

#include "phidgets_api/digital_outputs.hpp"
#include "phidgets_digital_outputs/digital_outputs_ros_i.hpp"
#include "phidgets_msgs/srv/set_digital_output.hpp"

namespace phidgets {

DigitalOutputsRosI::DigitalOutputsRosI(const rclcpp::NodeOptions& options)
    : rclcpp::Node("phidgets_digital_outputs_node", options)
{
    setvbuf(stdout, nullptr, _IONBF, BUFSIZ);

    RCLCPP_INFO(get_logger(), "Starting Phidgets Digital Outputs");

    this->declare_parameter("server_name",
                            rclcpp::ParameterType::PARAMETER_STRING);
    this->declare_parameter("server_ip",
                            rclcpp::ParameterType::PARAMETER_STRING);
    if (this->get_parameter("server_name", server_name_) &&
        this->get_parameter("server_ip", server_ip_))
    {
        PhidgetNet_addServer(server_name_.c_str(), server_ip_.c_str(), 5661, "",
                             0);

        RCLCPP_INFO(get_logger(), "Using phidget server %s at IP %s",
                    server_name_.c_str(), server_ip_.c_str());
    }

    int serial_num =
        this->declare_parameter("serial", -1);  // default open any device

    int hub_port = this->declare_parameter(
        "hub_port", 0);  // only used if the device is on a VINT hub_port

    // only used if the device is on a VINT hub_port
    bool is_hub_port_device =
        this->declare_parameter("is_hub_port_device", false);

    RCLCPP_INFO(
        get_logger(),
        "Connecting to Phidgets DigitalOutputs serial %d, hub port %d ...",
        serial_num, hub_port);

    try
    {
        dos_ = std::make_unique<DigitalOutputs>(serial_num, hub_port,
                                                is_hub_port_device);

    } catch (const Phidget22Error& err)
    {
        RCLCPP_ERROR(get_logger(), "DigitalOutputs: %s", err.what());
        throw;
    }

    uint32_t n_out = dos_->getOutputCount();
    RCLCPP_INFO(get_logger(), "Connected to serial %d, %u outputs",
                dos_->getSerialNumber(), n_out);
    out_subs_.resize(n_out);
    for (uint32_t i = 0; i < n_out; i++)
    {
        char topicname[100];
        snprintf(topicname, sizeof(topicname), "digital_output%02d", i);
        out_subs_[i] = std::make_unique<DigitalOutputSetter>(dos_.get(), i,
                                                             this, topicname);
    }
    out_srv_ = this->create_service<phidgets_msgs::srv::SetDigitalOutput>(
        "set_digital_output",
        std::bind(&DigitalOutputsRosI::setSrvCallback, this,
                  std::placeholders::_1, std::placeholders::_2));
}

void DigitalOutputsRosI::setSrvCallback(
    const std::shared_ptr<phidgets_msgs::srv::SetDigitalOutput::Request> req,
    std::shared_ptr<phidgets_msgs::srv::SetDigitalOutput::Response> res)
{
    dos_->setOutputState(req->index, req->state);
    res->success = true;
}

DigitalOutputSetter::DigitalOutputSetter(DigitalOutputs* dos, int index,
                                         DigitalOutputsRosI* node,
                                         const std::string& topicname)
    : dos_(dos), index_(index)
{
    subscription_ = node->create_subscription<std_msgs::msg::Bool>(
        topicname, rclcpp::QoS(10),
        std::bind(&DigitalOutputSetter::setMsgCallback, this,
                  std::placeholders::_1));
}

void DigitalOutputSetter::setMsgCallback(
    const std_msgs::msg::Bool::SharedPtr msg)
{
    dos_->setOutputState(index_, msg->data);
}

}  // namespace phidgets

RCLCPP_COMPONENTS_REGISTER_NODE(phidgets::DigitalOutputsRosI)