update md motors

md_motor_ros_sdk/CMakeLists.txt

@@ -0,0 +1,244 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(md_motor_ros_sdk)
+
+add_compile_options(-std=c++11)
+
+set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+set(CMAKE_BUILD_TYPE Release)
+
+LIST( APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}" )
+
+FILE(GLOB RPLIDAR_SDK_SRC 
+  "${RPLIDAR_SDK_PATH}/src/arch/linux/*.cpp"
+  "${RPLIDAR_SDK_PATH}/src/hal/*.cpp"
+  "${RPLIDAR_SDK_PATH}/src/*.cpp"
+)
+
+## 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
+  serial
+  message_generation
+  rosconsole
+  roscpp
+  sensor_msgs
+  std_msgs
+  geometry_msgs
+  tf
+  nav_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
+## 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
+  std_msgs
+  geometry_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
+  CATKIN_DEPENDS serial rosconsole roscpp sensor_msgs std_msgs geometry_msgs tf
+)
+
+###########
+## 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}_library
+#    src/main.cpp
+#    src/com.cpp
+#    src/robot.cpp
+#  )
+# target_link_libraries(${PROJECT_NAME}_library ${catkin_LIBRARIES})
+
+
+## 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(visionsemicon ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+SET(LIBRARY_NAME md_sdk)
+SET(${LIBRARY_NAME}_HEADERS
+  include/md_motor_ros_sdk/com.hpp
+  include/md_motor_ros_sdk/global.hpp
+)
+
+SET(${LIBRARY_NAME}_SOURCES
+  src/com.cpp
+)
+
+ADD_LIBRARY(${LIBRARY_NAME} SHARED ${${LIBRARY_NAME}_SOURCES} ${${LIBRARY_NAME}_HEADERS} )
+TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} SYSTEM PUBLIC $<INSTALL_INTERFACE:include>)
+add_dependencies(${LIBRARY_NAME}  ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+add_dependencies(${LIBRARY_NAME} ${PROJECT_NAME}_generate_messages_cpp )
+
+## 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
+## jclee
+#  add_executable(md_robot_node src/md_robot_node/main.cpp src/md_robot_node/com.cpp src/md_robot_node/robot.cpp)
+#  add_dependencies(md_robot_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+#  target_link_libraries(md_robot_node
+#    ${catkin_LIBRARIES}
+#  ) 
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+## add_dependencies(md_robot_node md_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+
+
+#############
+## 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} ${PROJECT_NAME}_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}
+# )
+
+# install(TARGETS md_robot_node
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_visionsemicon.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)

md_motor_ros_sdk/include/md_motor_ros_sdk/com.hpp

@@ -0,0 +1,42 @@
+#ifndef __md_wrapper__
+#define __md_wrapper__
+
+#include "md_motor_ros_sdk/global.hpp"
+
+class MDWrapper{
+    public:
+        MDWrapper(const std::string & port,  ROBOT_PARAMETER_t robotParamData, INIT_SETTING_STATE_t fgInitsetting);
+        ~MDWrapper(){};
+
+        int InitSerialComm();
+        uint8_t CalCheckSum(uint8_t *pData, uint16_t length);
+        int PutMdData(PID_CMD_t pid, uint16_t rmid, const uint8_t *pData, uint16_t length);
+        int ReceiveDataFromController();
+        int MdReceiveProc();
+        int AnalyzeReceivedData(uint8_t byArray[], uint8_t byBufNum);
+        void setInitSetting(INIT_SETTING_STATE_t fgInitsetting){
+            fgInitsetting_ = fgInitsetting;
+        }
+
+
+        serial::Serial ser;
+
+        PID_PNT_MAIN_DATA_t curr_pid_pnt_main_data;
+        PID_ROBOT_MONITOR2_t curr_pid_robot_monitor2;
+        PID_PNT_IO_MONITOR_t curr_pid_pnt_io_monitor;
+        PID_ROBOT_MONITOR_t curr_pid_robot_monitor;
+        PID_GAIN_t curr_pid_gain;
+
+        uint8_t serial_comm_rcv_buff[MAX_PACKET_SIZE];
+        uint8_t serial_comm_snd_buff[MAX_PACKET_SIZE];
+
+        string port_;
+        ROBOT_PARAMETER_t robotParamData_;
+        INIT_SETTING_STATE_t fgInitsetting_;
+
+        double v_id1_;
+        double v_id2_;
+
+};
+
+#endif