Introduce Trick ROS publish/subscribe examples.

Introducing a pubish and subscribe example sim.  The publisher includes
a ROS msg file that is processed by ROS into a header file.

refs #190

trick_sims/ROS/SIM_ros_publisher/RUN_test/input.py

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+
+def main():
+    trick.real_time_enable()
+    trick.exec_set_software_frame(0.5)
+
+if __name__ == "__main__":
+    main()
+
+

trick_sims/ROS/SIM_ros_publisher/S_define

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+
+#include "sim_objects/default_trick_sys.sm"
+
+##include "ros_comm/ros_framework.hh"
+##include "ros_comm/ros_publish.hh"
+
+class RosPublishSimObject : public Trick::SimObject {
+
+    public:
+        RosFramework rf ;
+        RosPublish rp ;
+
+        RosPublishSimObject() : rf("talker") , rp() {
+            ("initialization") rp.init() ;
+            (0.5, "scheduled") rp.publish() ;
+            ("shutdown") rf.shutdown() ;
+        }
+} ;
+
+RosPublishSimObject rp_so ;

trick_sims/ROS/SIM_ros_publisher/S_overrides.mk

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+
+ROS_HOME = /opt/ros/jade
+TRICK_ICG_EXCLUDE += :${ROS_HOME}
+
+TRICK_CFLAGS += -I../models -I${ROS_HOME}/include
+TRICK_CXXFLAGS += -I../models -I${ROS_HOME}/include -Wno-shadow -Wno-unused-parameter
+
+TRICK_EXEC_LINK_LIBS += -L${ROS_HOME}/lib -lroscpp -lrosconsole -lroscpp_serialization
+
+$(MODEL_cpp_OBJ) : | ../models/ros_comm/Num.h
+
+MESSAGE_FILES = ../models/ros_comm/Num.h
+
+${MESSAGE_FILES} : %.h : %.msg
+	cd ${<D} && ${ROS_HOME}/lib/gencpp/gen_cpp.py ${<F} -Itrick_msgs:. -Istd_msgs:${ROS_HOME}/share/std_msgs/cmake/../msg -p trick_msgs -o . -e /opt/ros/jade/share/gencpp
+
+clean: clean_msg_headers
+
+clean_msg_headers:
+	rm -f ${HOME}/trick_models/ros_comm/Num.h

trick_sims/ROS/SIM_ros_subscriber/RUN_test/input.py

@@ -0,0 +1,11 @@
+
+def main():
+    trick.real_time_enable()
+    trick.itimer_enable()
+    trick.exec_set_software_frame(0.5)
+    trick.exec_set_thread_process_type(1, trick.PROCESS_TYPE_ASYNC_CHILD)
+
+if __name__ == "__main__":
+    main()
+
+

trick_sims/ROS/SIM_ros_subscriber/S_define

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+
+#include "sim_objects/default_trick_sys.sm"
+
+##include "ros_comm/ros_framework.hh"
+##include "ros_comm/ros_subscribe.hh"
+
+class RosSubscribeSimObject : public Trick::SimObject {
+
+    public:
+        RosFramework rf ;
+        RosSubscribe rp ;
+
+        RosSubscribeSimObject() : rf("trick_listener") , rp() {
+            ("initialization") rp.init() ;
+            C1 (0.5, "scheduled") rp.process() ;
+            ("shutdown") rf.shutdown() ;
+        }
+} ;
+
+RosSubscribeSimObject rs_so ;

trick_sims/ROS/SIM_ros_subscriber/S_overrides.mk

@@ -0,0 +1,8 @@
+
+ROS_HOME = /opt/ros/jade
+TRICK_ICG_EXCLUDE += :${ROS_HOME}
+
+TRICK_CFLAGS += -I../models -I${ROS_HOME}/include
+TRICK_CXXFLAGS += -I../models -I${ROS_HOME}/include -Wno-shadow -Wno-unused-parameter
+
+TRICK_EXEC_LINK_LIBS += -L${ROS_HOME}/lib -lroscpp -lrosconsole -lroscpp_serialization

trick_sims/ROS/models/ros_comm/Num.h

@@ -0,0 +1,239 @@
+// Generated by gencpp from file trick_msgs/Num.msg
+// DO NOT EDIT!
+
+
+#ifndef TRICK_MSGS_MESSAGE_NUM_H
+#define TRICK_MSGS_MESSAGE_NUM_H
+
+
+#include <string>
+#include <vector>
+#include <map>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace trick_msgs
+{
+template <class ContainerAllocator>
+struct Num_
+{
+  typedef Num_<ContainerAllocator> Type;
+
+  Num_()
+    : first_name()
+    , last_name()
+    , date()
+    , points(0)
+    , rebounds(0)
+    , blocks(0)
+    , assists(0)  {
+    }
+  Num_(const ContainerAllocator& _alloc)
+    : first_name(_alloc)
+    , last_name(_alloc)
+    , date(_alloc)
+    , points(0)
+    , rebounds(0)
+    , blocks(0)
+    , assists(0)  {
+    }
+
+
+
+   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _first_name_type;
+  _first_name_type first_name;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _last_name_type;
+  _last_name_type last_name;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other >  _date_type;
+  _date_type date;
+
+   typedef uint8_t _points_type;
+  _points_type points;
+
+   typedef uint32_t _rebounds_type;
+  _rebounds_type rebounds;
+
+   typedef uint32_t _blocks_type;
+  _blocks_type blocks;
+
+   typedef uint32_t _assists_type;
+  _assists_type assists;
+
+
+
+
+  typedef boost::shared_ptr< ::trick_msgs::Num_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::trick_msgs::Num_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Num_
+
+typedef ::trick_msgs::Num_<std::allocator<void> > Num;
+
+typedef boost::shared_ptr< ::trick_msgs::Num > NumPtr;
+typedef boost::shared_ptr< ::trick_msgs::Num const> NumConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::trick_msgs::Num_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::trick_msgs::Num_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+} // namespace trick_msgs
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+// BOOLTRAITS {'IsFixedSize': False, 'IsMessage': True, 'HasHeader': False}
+// {'trick_msgs': ['.'], 'std_msgs': ['/opt/ros/jade/share/std_msgs/cmake/../msg']}
+
+// !!!!!!!!!!! ['__class__', '__delattr__', '__dict__', '__doc__', '__eq__', '__format__', '__getattribute__', '__hash__', '__init__', '__module__', '__ne__', '__new__', '__reduce__', '__reduce_ex__', '__repr__', '__setattr__', '__sizeof__', '__str__', '__subclasshook__', '__weakref__', '_parsed_fields', 'constants', 'fields', 'full_name', 'has_header', 'header_present', 'names', 'package', 'parsed_fields', 'short_name', 'text', 'types']
+
+
+
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::trick_msgs::Num_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::trick_msgs::Num_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::trick_msgs::Num_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::trick_msgs::Num_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::trick_msgs::Num_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::trick_msgs::Num_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::trick_msgs::Num_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "345b622c1a8704503c97d4d3be56b05d";
+  }
+
+  static const char* value(const ::trick_msgs::Num_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x345b622c1a870450ULL;
+  static const uint64_t static_value2 = 0x3c97d4d3be56b05dULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::trick_msgs::Num_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "trick_msgs/Num";
+  }
+
+  static const char* value(const ::trick_msgs::Num_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::trick_msgs::Num_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "string first_name\n\
+string last_name\n\
+string date\n\
+uint8 points\n\
+uint32 rebounds\n\
+uint32 blocks\n\
+uint32 assists\n\
+";
+  }
+
+  static const char* value(const ::trick_msgs::Num_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::trick_msgs::Num_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.first_name);
+      stream.next(m.last_name);
+      stream.next(m.date);
+      stream.next(m.points);
+      stream.next(m.rebounds);
+      stream.next(m.blocks);
+      stream.next(m.assists);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER;
+  }; // struct Num_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::trick_msgs::Num_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::trick_msgs::Num_<ContainerAllocator>& v)
+  {
+    s << indent << "first_name: ";
+    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.first_name);
+    s << indent << "last_name: ";
+    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.last_name);
+    s << indent << "date: ";
+    Printer<std::basic_string<char, std::char_traits<char>, typename ContainerAllocator::template rebind<char>::other > >::stream(s, indent + "  ", v.date);
+    s << indent << "points: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.points);
+    s << indent << "rebounds: ";
+    Printer<uint32_t>::stream(s, indent + "  ", v.rebounds);
+    s << indent << "blocks: ";
+    Printer<uint32_t>::stream(s, indent + "  ", v.blocks);
+    s << indent << "assists: ";
+    Printer<uint32_t>::stream(s, indent + "  ", v.assists);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // TRICK_MSGS_MESSAGE_NUM_H

trick_sims/ROS/models/ros_comm/Num.msg

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+string first_name
+string last_name
+string date
+uint8 points
+uint32 rebounds
+uint32 blocks
+uint32 assists

trick_sims/ROS/models/ros_comm/ros_framework.cpp

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+
+#include "ros/ros.h"
+#include "trick/command_line_protos.h"
+#include "ros_framework.hh"
+
+RosFramework::RosFramework(std::string app_name) {
+    int argc = command_line_args_get_argc() ;
+    char **argv = command_line_args_get_argv() ;
+    ros::init(argc, argv, app_name.c_str(), ros::init_options::NoSigintHandler) ;
+}
+
+RosFramework::~RosFramework() {}
+
+int RosFramework::shutdown() {
+    ros::shutdown() ;
+    return 0 ;
+}
+

trick_sims/ROS/models/ros_comm/ros_framework.hh

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+
+/*
+PURPOSE: (To be)
+LIBRARY_DEPENDENCIES: (ros_framework.cpp)
+*/
+
+#ifndef ROS_FRAMEWORK_HH
+#define ROS_FRAMEWORK_HH
+
+#include <string>
+
+class RosFramework {
+    public:
+        RosFramework(std::string app_name) ;
+        virtual ~RosFramework() ;
+        virtual int shutdown() ;
+} ;
+
+#endif

trick_sims/ROS/models/ros_comm/ros_publish.cpp

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+
+#include "std_msgs/String.h"
+#include "trick/exec_proto.h"
+#include "ros_publish.hh"
+
+#include "Num.h"
+
+RosPublish::RosPublish() : count(0) {}
+
+int RosPublish::init() {
+    msg_pub = n.advertise<trick_msgs::Num>("num_chatter", 1000) ;
+    return 0 ;
+}
+
+int RosPublish::publish() {
+    if ( ros::ok() ) {
+        trick_msgs::Num tn ;
+        tn.first_name = "Hakeem" ;
+        tn.last_name = "Olajuwon" ;
+        tn.date = "March 29, 1990" ;
+        tn.points = 18 ;
+        tn.rebounds = 16 ;
+        tn.blocks = 11 ;
+        tn.assists = 10 ;
+        std::cout << tn << std::endl ;
+        msg_pub.publish(tn) ;
+
+        ros::spinOnce() ;
+    } else {
+        exec_terminate(__FILE__, "ros not ok") ;
+    }
+    return 0 ;
+}
+

trick_sims/ROS/models/ros_comm/ros_publish.hh

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+
+/*
+PURPOSE: (To be)
+LIBRARY_DEPENDENCIES: (ros_publish.cpp)
+*/
+
+#ifndef ROS_PUBLISH_HH
+#define ROS_PUBLISH_HH
+
+#include "ros/ros.h"
+
+class RosPublish {
+    public:
+        ros::NodeHandle n ;             // ** ros nodehandle
+        ros::Publisher msg_pub ;        // ** ros publisher
+
+        int count ;
+
+        RosPublish() ;
+        int init() ;
+        int publish() ;
+} ;
+
+#endif

trick_sims/ROS/models/ros_comm/ros_subscribe.cpp

@@ -0,0 +1,21 @@
+
+#include "std_msgs/String.h"
+#include "ros_subscribe.hh"
+#include "Num.h"
+
+void numchatterCallback(const trick_msgs::Num::ConstPtr& msg) {
+  std::cout << *msg << std::endl ;
+}
+
+RosSubscribe::RosSubscribe() {}
+
+int RosSubscribe::init() {
+    sub = n.subscribe("num_chatter", 1000, numchatterCallback) ;
+    return 0 ;
+}
+
+int RosSubscribe::process() {
+    ros::spin() ;
+    return 0 ;
+}
+

trick_sims/ROS/models/ros_comm/ros_subscribe.hh

@@ -0,0 +1,22 @@
+
+/*
+PURPOSE: (To be)
+LIBRARY_DEPENDENCIES: (ros_subscribe.cpp)
+*/
+
+#ifndef ROS_SUBSCRIBE_HH
+#define ROS_SUBSCRIBE_HH
+
+#include "ros/ros.h"
+
+class RosSubscribe {
+    public:
+        ros::NodeHandle n ;      // ** ros nodehandle
+        ros::Subscriber sub ;    // ** ros subscriber
+
+        RosSubscribe() ;
+        int init() ;
+        int process() ;
+} ;
+
+#endif