感知层代码更新

src/common/message.h

@@ -24,6 +24,8 @@ const std::string Geometry = "geometry"; // utm coords
 const std::string CanDataAnalysis = "canDataAnalysis";
 
 const std::string ObdData = "obddata";
+
+const std::string PerceptionData = "perceptionData";
 // -----------------topics ----------------------------
 
 // -----------------services ----------------------------

src/perception/CMakeLists.txt

@@ -0,0 +1,204 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(perception)
+
+## 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 message_generation std_msgs rospy
+)
+
+## 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 exec_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 exec_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
+#   std_msgs  # Or other packages containing 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 exec_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 your 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 perception
+#  CATKIN_DEPENDS roscpp message_generation std_msgs rospy
+#  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/${PROJECT_NAME}/perception.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/perception_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} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_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 for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${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_perception.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)

src/perception/package.xml

@@ -0,0 +1,63 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>perception</name>
+  <version>0.1.0</version>
+  <description>The perception package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="zhangyu@todo.todo">zhangyu</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>Apache 2.0</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/perception</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+  <author >zhangyu</author>
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp message_generation std_msgs rospy</build_depend>
+  <build_export_depend>roscpp message_generation std_msgs rospy</build_export_depend>
+  <exec_depend>roscpp message_generation std_msgs rospy</exec_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/perception/perception.cpp

@@ -0,0 +1,95 @@
+#include "perception.h"
+#include "../common/message.h"
+#include "../common/canmsgobdmsgid.h"
+#include "../canbus/candatatype.h"
+
+
+
+
+namespace  robot {
+namespace perception {
+
+
+ros::Publisher Perception::s_perData_pub;
+
+std::string Perception::Name() const { return "perception"; }
+
+int Perception::Init()
+{
+    LOG(INFO) << Name() << " Init start...";
+
+    node_handle_.reset(new ros::NodeHandle());
+
+    s_perData_pub = node_handle_->advertise<canbus::canMsg>(robot::common::PerceptionData, 2000);
+
+    LOG(INFO) << Name() << " Init end.";
+}
+
+int Perception::Start()
+{
+    ros::Subscriber sub = node_handle_->subscribe(robot::common::CanDataAnalysis, 1000, CanTopicCallback);
+    ros::spin();
+}
+
+void Perception::Stop()
+{
+
+}
+
+
+void Perception::CanTopicCallback(const canbus::canMsg::ConstPtr& msg)
+{
+    LOG(INFO) << " Msg CanData :" << "ID:" << msg->id << ",Data:" << msg->data;
+
+    bool sendFlag = false;
+
+    switch (msg->id) {
+    case robot::common::PowerOnReq:
+    {
+        static robot::canbusSpace::T_CONTROL_CMD_5F1 cmd_5F1_PRO;
+        memset(&cmd_5F1_PRO, 0 ,sizeof(cmd_5F1_PRO));
+
+        robot::canbusSpace::T_CONTROL_CMD_5F1 cmd_5F1_REV;
+        memcpy(&cmd_5F1_REV, msg->data.c_str(), sizeof(cmd_5F1_REV));
+
+        if(cmd_5F1_REV.uiAccCtrPowReq != cmd_5F1_PRO.uiAccCtrPowReq && cmd_5F1_REV.uiBrkCtrPowReq != cmd_5F1_PRO.uiBrkCtrPowReq &&
+                cmd_5F1_REV.uiClchCtrPowReq != cmd_5F1_PRO.uiClchCtrPowReq && cmd_5F1_REV.uiRCUPowReq != cmd_5F1_PRO.uiRCUPowReq &&
+                cmd_5F1_REV.uiStrCtrPowReq != cmd_5F1_PRO.uiStrCtrPowReq && cmd_5F1_REV.uiXSftArmCtrPowReq != cmd_5F1_PRO.uiXSftArmCtrPowReq &&
+                cmd_5F1_REV.uiYSftArmCtrPowReq != cmd_5F1_PRO.uiYSftArmCtrPowReq)
+        {
+            sendFlag = true;
+        }
+
+        memcpy(&cmd_5F1_PRO, msg->data.c_str(), sizeof(cmd_5F1_PRO));
+    }
+        break;
+    case robot::common::ActuatorEnableStatus:
+    {
+        static robot::canbusSpace::T_STATE_OUT_6E5 s_state_6E5;
+        memset(&s_state_6E5, 0 ,sizeof(s_state_6E5));
+
+        robot::canbusSpace::T_STATE_OUT_6E5 state_6E5;
+        memcpy(&state_6E5, msg->data.c_str(), sizeof(state_6E5));
+
+        if(state_6E5.uiAccClchCtrStat != s_state_6E5.uiAccClchCtrStat && state_6E5.uiAccMotEnStat != s_state_6E5.uiAccMotEnStat &&
+                state_6E5.uiBrkHVFFStat != s_state_6E5.uiBrkHVFFStat && state_6E5.uiBrkMotEnStat != s_state_6E5.uiBrkMotEnStat &&
+                state_6E5.uiClchMotEnStat != s_state_6E5.uiClchMotEnStat && state_6E5.uiPauseEnStat != s_state_6E5.uiPauseEnStat &&
+                state_6E5.uiStrMotEnStat != s_state_6E5.uiStrMotEnStat && state_6E5.uiXSftMotEnStat != s_state_6E5.uiXSftMotEnStat &&
+                state_6E5.uiYSftMotEnStat != s_state_6E5.uiYSftMotEnStat);
+        {
+            sendFlag = true;
+        }
+    }
+        break;
+    default:
+        break;
+    }
+
+    if (sendFlag)
+    {
+        s_perData_pub.publish(msg);
+    }
+}
+
+}  // namespace perception
+}  // namespace robot

src/perception/perception.h

@@ -0,0 +1,53 @@
+#ifndef ROBOT_ROBOT_PERCEPTION_H
+#define ROBOT_ROBOT_PERCEPTION_H
+
+#include "../common/robotapp.h"
+#include "ros/ros.h"
+#include "std_msgs/String.h"
+#include <canbus/canMsg.h>
+
+namespace robot {
+namespace perception {
+
+class Perception : public robot::common::RobotApp
+{
+public:
+    Perception() {}
+
+    /**
+    * perception 节点名称
+    */
+    std::string Name() const override;
+
+    /**
+    * @brief module initialization function
+    * @return initialization status
+    */
+    int Init() override;
+
+    /**
+    * @brief module start function
+    * @return start status
+    */
+    int Start() override;
+
+    /**
+    * @brief module stop function
+    */
+    void Stop() override;
+
+    /**
+    * @brief Can topic data callback function
+    */
+    static void CanTopicCallback(const canbus::canMsg::ConstPtr& msg);
+
+private:
+
+     static ros::Publisher s_perData_pub;
+};
+
+
+}  // namespace perception
+}  // namespace robot
+
+#endif // ROBOT_ROBOT_PERCEPTION_H

src/perception/perception_app.cpp

@@ -0,0 +1,4 @@
+#include "../common/robotapp.h"
+#include "perception.h"
+
+ROBOT_MAIN(robot::perception::Perception);