Updated to ROS Serial version 0.9.1

Author: josh

examples/Blink/Blink.pde

@@ -9,14 +9,14 @@
 ros::NodeHandle  nh;
 
 void messageCb( const std_msgs::Empty& toggle_msg){
-  digitalWrite(13, HIGH-digitalRead(13));   // blink the led
+  digitalWrite(LED_BUILTIN, HIGH-digitalRead(LED_BUILTIN));   // blink the led
 }
 
 ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb );
 
 void setup()
 { 
-  pinMode(13, OUTPUT);
+  pinMode(LED_BUILTIN, OUTPUT);
   nh.initNode();
   nh.subscribe(sub);
 }

examples/BlinkerWithClass/BlinkerWithClass.ino

@@ -0,0 +1,70 @@
+#include <ros.h>
+#include <std_srvs/SetBool.h>
+#include <std_msgs/UInt16.h>
+
+ros::NodeHandle nh;
+
+class Blinker
+{
+public:
+  Blinker(byte pin, uint16_t period)
+  : pin_(pin), period_(period),
+    subscriber_("set_blink_period", &Blinker::set_period_callback, this),
+    service_server_("activate_blinker", &Blinker::service_callback, this)
+  {}
+
+  void init(ros::NodeHandle& nh)
+  {
+    pinMode(pin_, OUTPUT);
+    nh.subscribe(subscriber_);
+    nh.advertiseService(service_server_);
+  }
+
+  void run()
+  {
+    if(active_ && ((millis() - last_time_) >= period_))
+    {
+      last_time_ = millis();
+      digitalWrite(pin_, !digitalRead(pin_));
+    }
+  }
+
+  void set_period_callback(const std_msgs::UInt16& msg)
+  {
+    period_ = msg.data;
+  }
+
+  void service_callback(const std_srvs::SetBool::Request& req,
+                              std_srvs::SetBool::Response& res)
+  {
+    active_ = req.data;
+    res.success = true;
+    if(req.data)
+      res.message = "Blinker ON";
+    else
+      res.message = "Blinker OFF";
+  }
+
+private:
+  const byte pin_;
+  bool active_ = true;
+  uint16_t period_;
+  uint32_t last_time_;
+  ros::Subscriber<std_msgs::UInt16, Blinker> subscriber_;
+  ros::ServiceServer<std_srvs::SetBool::Request, std_srvs::SetBool::Response, Blinker> service_server_;
+};
+
+Blinker blinker(LED_BUILTIN, 500);
+
+void setup()
+{
+  nh.initNode();
+  blinker.init(nh);
+}
+
+void loop()
+{
+  blinker.run();
+  nh.spinOnce();
+  delay(1);
+}

src/examples/Esp8266/HelloWorld.ino renamed to examples/Esp8266HelloWorld/Esp8266HelloWorld.ino

@@ -1,9 +1,9 @@
 /*
  * rosserial Publisher Example
  * Prints "hello world!"
- * This intend to connect to a Wifi Access Point 
+ * This intend to connect to a Wifi Access Point
  * and a rosserial socket server.
- * You can launch the rosserial socket server with 
+ * You can launch the rosserial socket server with
  * roslaunch rosserial_server socket.launch
  * The default port is 11411
  *

examples/ServiceClient/client.py

@@ -1,6 +1,6 @@
 #!/usr/bin/env python
 
-""" 
+"""
 Sample code to use with ServiceClient.pde
 """
 
@@ -10,7 +10,7 @@
 from rosserial_arduino.srv import *
 
 def callback(req):
-    print "The arduino is calling! Please send it a message:"
+    print("The arduino is calling! Please send it a message:")
     t = TestResponse()
     t.output = raw_input()
     return t

examples/TcpBlink/TcpBlink.ino

@@ -0,0 +1,47 @@
+/*
+ * rosserial Subscriber Example using TCP on Arduino Shield (Wiznet W5100 based)
+ * Blinks an LED on callback
+ */
+#include <SPI.h>
+#include <Ethernet.h>
+
+#define ROSSERIAL_ARDUINO_TCP
+
+#include <ros.h>
+#include <std_msgs/Empty.h>
+
+ros::NodeHandle  nh;
+
+// Shield settings
+byte mac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
+IPAddress ip(192, 168, 0, 177);
+
+// Server settings
+IPAddress server(192, 168, 0, 11);
+uint16_t serverPort = 11411;
+
+const uint8_t ledPin = 6; // 13 already used for SPI connection with the shield
+
+void messageCb( const std_msgs::Empty&){
+  digitalWrite(ledPin, HIGH-digitalRead(ledPin));   // blink the led
+}
+
+ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb );
+
+void setup()
+{
+  Ethernet.begin(mac, ip);
+  // give the Ethernet shield a second to initialize:
+  delay(1000);
+  pinMode(ledPin, OUTPUT);
+  nh.getHardware()->setConnection(server, serverPort);
+  nh.initNode();
+  nh.subscribe(sub);
+}
+
+void loop()
+{
+  nh.spinOnce();
+  delay(1);
+}
+

examples/TcpHelloWorld/TcpHelloWorld.ino

@@ -0,0 +1,84 @@
+/*
+ * rosserial Publisher Example
+ * Prints "hello world!"
+ * This intend to connect to an Arduino Ethernet Shield
+ * and a rosserial socket server.
+ * You can launch the rosserial socket server with
+ * roslaunch rosserial_server socket.launch
+ * The default port is 11411
+ *
+ */
+#include <SPI.h>
+#include <Ethernet.h>
+
+// To use the TCP version of rosserial_arduino
+#define ROSSERIAL_ARDUINO_TCP
+
+#include <ros.h>
+#include <std_msgs/String.h>
+
+// Set the shield settings
+byte mac[] = { 0xDE, 0xAD, 0xBE, 0xEF, 0xFE, 0xED };
+IPAddress ip(192, 168, 0, 177);
+
+// Set the rosserial socket server IP address
+IPAddress server(192,168,0,11);
+// Set the rosserial socket server port
+const uint16_t serverPort = 11411;
+
+ros::NodeHandle nh;
+// Make a chatter publisher
+std_msgs::String str_msg;
+ros::Publisher chatter("chatter", &str_msg);
+
+// Be polite and say hello
+char hello[13] = "hello world!";
+uint16_t period = 1000;
+uint32_t last_time = 0;
+
+void setup()
+{
+  // Use serial to monitor the process
+  Serial.begin(115200);
+
+  // Connect the Ethernet
+  Ethernet.begin(mac, ip);
+
+  // Let some time for the Ethernet Shield to be initialized
+  delay(1000);
+
+  Serial.println("");
+  Serial.println("Ethernet connected");
+  Serial.println("IP address: ");
+  Serial.println(Ethernet.localIP());
+
+  // Set the connection to rosserial socket server
+  nh.getHardware()->setConnection(server, serverPort);
+  nh.initNode();
+
+  // Another way to get IP
+  Serial.print("IP = ");
+  Serial.println(nh.getHardware()->getLocalIP());
+
+  // Start to be polite
+  nh.advertise(chatter);
+}
+
+void loop()
+{
+  if(millis() - last_time >= period)
+  {
+    last_time = millis();
+    if (nh.connected())
+    {
+      Serial.println("Connected");
+      // Say hello
+      str_msg.data = hello;
+      chatter.publish( &str_msg );
+    } else {
+      Serial.println("Not Connected");
+    }
+  }
+  nh.spinOnce();
+  delay(1);
+}

library.properties

@@ -1,5 +1,5 @@
 name=Rosserial Arduino Library
-version=0.7.9
+version=0.9.1
 author=Michael Ferguson <mfergs7@gmail.com>
 maintainer=Joshua Frank <frankjoshua@gmail.com>
 sentence=Use an Arduino as a ROS publisher/subscriber

src/ArduinoHardware.h

@@ -35,7 +35,32 @@
 #ifndef ROS_ARDUINO_HARDWARE_H_
 #define ROS_ARDUINO_HARDWARE_H_
 
-#include "ArduinoIncludes.h"
+#if ARDUINO>=100
+  #include <Arduino.h>  // Arduino 1.0
+#else
+  #include <WProgram.h>  // Arduino 0022
+#endif
+
+#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__) || defined(__MKL26Z64__) || defined(__IMXRT1062__)
+  #if defined(USE_TEENSY_HW_SERIAL)
+    #define SERIAL_CLASS HardwareSerial // Teensy HW Serial
+  #else
+    #include <usb_serial.h>  // Teensy 3.0 and 3.1
+    #define SERIAL_CLASS usb_serial_class
+  #endif
+#elif defined(_SAM3XA_)
+  #include <UARTClass.h>  // Arduino Due
+  #define SERIAL_CLASS UARTClass
+#elif defined(USE_USBCON)
+  // Arduino Leonardo USB Serial Port
+  #define SERIAL_CLASS Serial_
+#elif (defined(__STM32F1__) and !(defined(USE_STM32_HW_SERIAL))) or defined(SPARK) 
+  // Stm32duino Maple mini USB Serial Port
+  #define SERIAL_CLASS USBSerial
+#else 
+  #include <HardwareSerial.h>  // Arduino AVR
+  #define SERIAL_CLASS HardwareSerial
+#endif
 
 class ArduinoHardware {
   public:
@@ -59,6 +84,10 @@ class ArduinoHardware {
       this->iostream = h.iostream;
       this->baud_ = h.baud_;
     }
+
+    void setPort(SERIAL_CLASS* io){
+      this->iostream = io;
+    }
 
     void setBaud(long baud){
       this->baud_= baud;
@@ -76,8 +105,7 @@ class ArduinoHardware {
 
     int read(){return iostream->read();};
     void write(uint8_t* data, int length){
-      for(int i=0; i<length; i++)
-        iostream->write(data[i]);
+      iostream->write(data, length);
     }
 
     unsigned long time(){return millis();}