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Add support for VINT networkhub to ROS2 #172

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merged 1 commit into from
Mar 11, 2024
Merged

Add support for VINT networkhub to ROS2 #172

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2 changes: 2 additions & 0 deletions phidgets_accelerometer/include/phidgets_accelerometer/accelerometer_ros_i.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,8 @@ class AccelerometerRosI final : public rclcpp::Node
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
std::string server_name_;
std::string server_ip_;

rclcpp::Time ros_time_zero_;
bool synchronize_timestamps_{true};
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14 changes: 14 additions & 0 deletions phidgets_accelerometer/src/accelerometer_ros_i.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -90,6 +90,20 @@ AccelerometerRosI::AccelerometerRosI(const rclcpp::NodeOptions& options)
throw std::runtime_error("Publish rate must be <= 1000");
}

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());
}

RCLCPP_INFO(
get_logger(),
"Connecting to Phidgets Accelerometer serial %d, hub port %d ...",
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2 changes: 2 additions & 0 deletions phidgets_analog_inputs/include/phidgets_analog_inputs/analog_inputs_ros_i.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -61,6 +61,8 @@ class AnalogInputsRosI final : public rclcpp::Node
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
std::string server_name_;
std::string server_ip_;

void publishLatest(int index);

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14 changes: 14 additions & 0 deletions phidgets_analog_inputs/src/analog_inputs_ros_i.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -67,6 +67,20 @@ AnalogInputsRosI::AnalogInputsRosI(const rclcpp::NodeOptions& options)
throw std::runtime_error("Publish rate must be <= 1000");
}

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());
}

RCLCPP_INFO(
get_logger(),
"Connecting to Phidgets AnalogInputs serial %d, hub port %d ...",
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2 changes: 2 additions & 0 deletions phidgets_analog_outputs/include/phidgets_analog_outputs/analog_outputs_ros_i.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,8 @@ class AnalogOutputsRosI final : public rclcpp::Node
std::vector<std::unique_ptr<AnalogOutputSetter>> out_subs_;

rclcpp::Service<phidgets_msgs::srv::SetAnalogOutput>::SharedPtr out_srv_;
std::string server_name_;
std::string server_ip_;

bool setSrvCallback(
const std::shared_ptr<phidgets_msgs::srv::SetAnalogOutput::Request> req,
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14 changes: 14 additions & 0 deletions phidgets_analog_outputs/src/analog_outputs_ros_i.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -49,6 +49,20 @@ AnalogOutputsRosI::AnalogOutputsRosI(const rclcpp::NodeOptions& options)
int serial_num =
this->declare_parameter("serial", -1); // default open any device

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

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2 changes: 2 additions & 0 deletions phidgets_digital_inputs/include/phidgets_digital_inputs/digital_inputs_ros_i.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -59,6 +59,8 @@ class DigitalInputsRosI final : public rclcpp::Node
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
std::string server_name_;
std::string server_ip_;

void publishLatest(int index);

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14 changes: 14 additions & 0 deletions phidgets_digital_inputs/src/digital_inputs_ros_i.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,20 @@ DigitalInputsRosI::DigitalInputsRosI(const rclcpp::NodeOptions& options)
throw std::runtime_error("Publish rate must be <= 1000");
}

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());
}

RCLCPP_INFO(
get_logger(),
"Connecting to Phidgets DigitalInputs serial %d, hub port %d ...",
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2 changes: 2 additions & 0 deletions phidgets_digital_outputs/include/phidgets_digital_outputs/digital_outputs_ros_i.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -68,6 +68,8 @@ class DigitalOutputsRosI final : public rclcpp::Node
std::vector<std::unique_ptr<DigitalOutputSetter>> out_subs_;

rclcpp::Service<phidgets_msgs::srv::SetDigitalOutput>::SharedPtr out_srv_;
std::string server_name_;
std::string server_ip_;

void setSrvCallback(
const std::shared_ptr<phidgets_msgs::srv::SetDigitalOutput::Request>
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14 changes: 14 additions & 0 deletions phidgets_digital_outputs/src/digital_outputs_ros_i.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -48,6 +48,20 @@ DigitalOutputsRosI::DigitalOutputsRosI(const rclcpp::NodeOptions& options)

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

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2 changes: 2 additions & 0 deletions phidgets_gyroscope/include/phidgets_gyroscope/gyroscope_ros_i.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,8 @@ class GyroscopeRosI final : public rclcpp::Node
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
std::string server_name_;
std::string server_ip_;

rclcpp::Time ros_time_zero_;
bool synchronize_timestamps_{true};
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14 changes: 14 additions & 0 deletions phidgets_gyroscope/src/gyroscope_ros_i.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -91,6 +91,20 @@ GyroscopeRosI::GyroscopeRosI(const rclcpp::NodeOptions &options)
throw std::runtime_error("Publish rate must be <= 1000");
}

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());
}

RCLCPP_INFO(get_logger(),
"Connecting to Phidgets Gyroscope serial %d, hub port %d ...",
serial_num, hub_port);
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2 changes: 2 additions & 0 deletions phidgets_high_speed_encoder/include/phidgets_high_speed_encoder/high_speed_encoder_ros_i.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,8 @@ class HighSpeedEncoderRosI final : public rclcpp::Node
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
std::string server_name_;
std::string server_ip_;

/// Publish the latest state for all encoder channels:
void publishLatest();
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14 changes: 14 additions & 0 deletions phidgets_high_speed_encoder/src/high_speed_encoder_ros_i.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -70,6 +70,20 @@ HighSpeedEncoderRosI::HighSpeedEncoderRosI(const rclcpp::NodeOptions& options)
throw std::runtime_error("Publish rate must be <= 1000");
}

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());
}

RCLCPP_INFO(get_logger(),
"Connecting to Phidgets Encoders serial %d, hub port %d ...",
serial_num, hub_port);
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2 changes: 2 additions & 0 deletions phidgets_magnetometer/include/phidgets_magnetometer/magnetometer_ros_i.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,8 @@ class MagnetometerRosI final : public rclcpp::Node
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
std::string server_name_;
std::string server_ip_;

rclcpp::Time ros_time_zero_;
bool synchronize_timestamps_{true};
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14 changes: 14 additions & 0 deletions phidgets_magnetometer/src/magnetometer_ros_i.cpp
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Expand Up @@ -87,6 +87,20 @@ MagnetometerRosI::MagnetometerRosI(const rclcpp::NodeOptions& options)
throw std::runtime_error("Publish rate must be <= 1000");
}

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());
}

// compass correction params (see
// http://www.phidgets.com/docs/1044_User_Guide)
this->declare_parameter("cc_mag_field", rclcpp::PARAMETER_DOUBLE);
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2 changes: 2 additions & 0 deletions phidgets_motors/include/phidgets_motors/motors_ros_i.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,8 @@ class MotorsRosI final : public rclcpp::Node
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
std::string server_name_;
std::string server_ip_;

void publishLatestDutyCycle(int index);
void publishLatestBackEMF(int index);
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14 changes: 14 additions & 0 deletions phidgets_motors/src/motors_ros_i.cpp
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Expand Up @@ -65,6 +65,20 @@ MotorsRosI::MotorsRosI(const rclcpp::NodeOptions& options)
throw std::runtime_error("Publish rate must be <= 1000");
}

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());
}

RCLCPP_INFO(get_logger(),
"Connecting to Phidgets Motors serial %d, hub port %d ...",
serial_num, hub_port);
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2 changes: 2 additions & 0 deletions phidgets_spatial/include/phidgets_spatial/spatial_ros_i.hpp
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Expand Up @@ -64,6 +64,8 @@ class SpatialRosI final : public rclcpp::Node
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
std::string server_name_;
std::string server_ip_;

rclcpp::Time ros_time_zero_;
bool synchronize_timestamps_{true};
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14 changes: 14 additions & 0 deletions phidgets_spatial/src/spatial_ros_i.cpp
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Expand Up @@ -162,6 +162,20 @@ SpatialRosI::SpatialRosI(const rclcpp::NodeOptions &options)
throw std::runtime_error("Publish rate must be <= 1000");
}

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());
}

// compass correction params (see
// http://www.phidgets.com/docs/1044_User_Guide)
this->declare_parameter("cc_mag_field", rclcpp::PARAMETER_DOUBLE);
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2 changes: 2 additions & 0 deletions phidgets_temperature/include/phidgets_temperature/temperature_ros_i.hpp
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Expand Up @@ -55,6 +55,8 @@ class TemperatureRosI final : public rclcpp::Node
void timerCallback();
rclcpp::TimerBase::SharedPtr timer_;
double publish_rate_;
std::string server_name_;
std::string server_ip_;

void publishLatest();

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14 changes: 14 additions & 0 deletions phidgets_temperature/src/temperature_ros_i.cpp
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Expand Up @@ -63,6 +63,20 @@ TemperatureRosI::TemperatureRosI(const rclcpp::NodeOptions& options)
throw std::runtime_error("Publish rate must be <= 1000");
}

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_))
Comment on lines +70 to +71
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I don't know much about the PhidgetNet_addServer API. If you call it to set the server name, does it always take precedence over the serial_num/hub_port that is otherwise specified?

If that is the case, then I think we should print a warning or error if the serial_num/hub_port is specified to anything but the default. Also, I think that the RCLCPP_INFO call below should probably conditionally print whether it is attaching to the server, or to the hub_port, depending on which one is configured. @mintar what do you think?

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I must admit I don't know the first thing about either the VINT serial hub nor the VINT network hub. I don't have either device for testing; that's what's making this so challenging even though it's really simple code.

In this PR, I've just ported the working code from #127 to ROS2. I haven't changed anything except replacing the ROS1 API calls with their ROS2 equivalents. Since we have this code in Noetic for a while now, and nobody has complained, I expect it's working.

You're definitely right about the RCLCPP_INFO call, but I believe somebody with access to a device for testing should make those changes.

{
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());
}

RCLCPP_INFO(get_logger(),
"Connecting to Phidgets Temperature serial %d, hub port %d, "
"thermocouple "
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