JderobotComm C++ for kobuki

CMakeLists.txt

@@ -9,6 +9,9 @@ endif()
 include(buildpresets.cmake)
 
 
+# include Modules 
+list(APPEND CMAKE_MODULE_PATH "${PROJECT_SOURCE_DIR}/cmake/modules")
+
 #check compiller
 if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
 	include(CheckCXXCompilerFlag)
@@ -86,6 +89,31 @@ macro(list_subdirectories2 retval curdir return_relative)
   set(${retval} ${list_of_dirs})
 endmacro()
 
+#macro to switch pythonInterp
+macro(usePython ver)
+  if (${ver} EQUAL 2 AND ${PYTHON2INTERP_FOUND})
+    set(PYTHON_EXECUTABLE ${PYTHON2_EXECUTABLE})
+    set(PYTHON_VERSION_STRING ${PYTHON2_VERSION_STRING})
+    set(PYTHON_VERSION_MAJOR ${PYTHON2_VERSION_MAJOR})
+    set(PYTHON_VERSION_MINOR ${PYTHON2_VERSION_MINOR})
+    set(PYTHON_VERSION_PATCH ${PYTHON2_VERSION_PATCH})
+    set(PYTHONINTERP_FOUND TRUE)
+  elseif(${ver} EQUAL 3 AND ${PYTHON3INTERP_FOUND})
+    set(PYTHON_EXECUTABLE ${PYTHON3_EXECUTABLE})
+    set(PYTHON_VERSION_STRING ${PYTHON3_VERSION_STRING})
+    set(PYTHON_VERSION_MAJOR ${PYTHON3_VERSION_MAJOR})
+    set(PYTHON_VERSION_MINOR ${PYTHON3_VERSION_MINOR})
+    set(PYTHON_VERSION_PATCH ${PYTHON3_VERSION_PATCH})
+    set(PYTHONINTERP_FOUND TRUE)
+  else(${ver} EQUAL 2 AND ${PYTHON2INTERP_FOUND})
+    unset(PYTHON_EXECUTABLE)
+    unset(PYTHON_VERSION_STRING)
+    unset(PYTHON_VERSION_MAJOR)
+    unset(PYTHON_VERSION_MINOR)
+    unset(PYTHON_VERSION_PATCH)
+    set(PYTHONINTERP_FOUND FALSE)
+  endif(${ver} EQUAL 2 AND ${PYTHON2INTERP_FOUND})
+endmacro()
 
 
 

Deps/python3/CMakeLists.txt → Deps/python/CMakeLists.txt

@@ -1,4 +1,7 @@
-find_package(PythonInterp 3 REQUIRED)
+find_package(Python3Interp)
+find_package(Python2Interp)
+
+usePython(3)
 
 execute_process(
   COMMAND ${PYTHON_EXECUTABLE} -c "import os;print(os.path.dirname(os.__file__))"

Deps/ros/CMakeLists.txt

@@ -3,7 +3,11 @@ find_package(roscpp QUIET)
 if(roscpp_FOUND)
 
 	MESSAGE("*** ROS LIBRARIES FOUND : ${roscpp_INCLUDE_DIRS}")
+
+    SET (CMAKE_PREFIX_PATH /opt/ros/kinetic)
+
 	list(APPEND DEPS ros-jade-roscpp ros-jade-std-msgs ros-jade-message-generation ros-jade-cv-bridge ros-jade-image-transport ros-jade-roscpp-core)
+
 #	list(APPEND DEPS_DEV )
 else()
 	MESSAGE("*** ROS LIBRARIES NOT FOUND")

cmake/modules/FindPython2Interp.cmake

@@ -0,0 +1,38 @@
+# Find the Python2 interpreter.
+#
+# NB: Generally, FindPythonInterp.cmake is able to find a python3
+# interpreter by working with version numbers. This find module
+# does some gymnastics to be able to find BOTH python2 and python3
+# interpreters within the same project, which does not seem possible
+# with the modules provided from upstream.
+#
+# This is designed to look for the Python2 interpreter, if you
+# also use FindPython3Interp.cmake to look for a Python3 interpreter.
+# In all other cases, the shipped module FindPythonInterp.cmake
+# does the trick.
+#
+#  PYTHON2INTERP_FOUND         - Was the Python executable found
+#  PYTHON2_EXECUTABLE          - path to the Python interpreter
+#
+#  PYTHON2_VERSION_STRING      - Python version found e.g. 2.5.2
+#  PYTHON2_VERSION_MAJOR       - Python major version found e.g. 2
+#  PYTHON2_VERSION_MINOR       - Python minor version found e.g. 5
+#  PYTHON2_VERSION_PATCH       - Python patch version found e.g. 2
+#
+# Nuke the cache, somebody might have looked for Python 2...
+# copy from:  https://gitlab.dune-project.org/quality/dune-python/blob/694ae69fe57de42b1a87373ed9eea8d76a1ebfd3/cmake/modules/FindPython2Interp.cmake
+unset(PYTHON_EXECUTABLE CACHE)
+set(PYTHONINTERP_FOUND FALSE)
+find_package(PythonInterp 2)
+find_package_handle_standard_args(Python2Interp
+                                  REQUIRED_VARS PYTHONINTERP_FOUND)
+# Set all those variables that we promised
+set(PYTHON2_EXECUTABLE ${PYTHON_EXECUTABLE})
+set(PYTHON2_VERSION_STRING ${PYTHON_VERSION_STRING})
+set(PYTHON2_VERSION_MAJOR ${PYTHON_VERSION_MAJOR})
+set(PYTHON2_VERSION_MINOR ${PYTHON_VERSION_MINOR})
+set(PYTHON2_VERSION_PATCH ${PYTHON_VERSION_PATCH})
+# Now nuke the cache to allow later rerunning of find_package(PythonInterp)
+# with a different required version number.
+unset(PYTHON_EXECUTABLE CACHE)
+set(PYTHONINTERP_FOUND FALSE)

cmake/modules/FindPython3Interp.cmake

@@ -0,0 +1,40 @@
+# Find the Python3 interpreter.
+#
+# NB: Generally, FindPythonInterp.cmake is able to find a python3
+# interpreter by working with version numbers. This find module
+# does some gymnastics to be able to find BOTH python2 and python3
+# interpreters within the same project, which does not seem possible
+# with the modules provided from upstream.
+#
+# When using this to look for Python3, you should use
+# FindPython2Interp.cmake to look for the Python2 interpreter.
+#
+# This module sets the following variables:
+#
+#  PYTHON3INTERP_FOUND         - Was the Python executable found
+#  PYTHON3_EXECUTABLE          - path to the Python interpreter
+#
+#  PYTHON3_VERSION_STRING      - Python version found e.g. 2.5.2
+#  PYTHON3_VERSION_MAJOR       - Python major version found e.g. 2
+#  PYTHON3_VERSION_MINOR       - Python minor version found e.g. 5
+#  PYTHON3_VERSION_PATCH       - Python patch version found e.g. 2
+#
+# Nuke the cache, somebody might have looked for Python 2...
+# copy from: https://gitlab.dune-project.org/quality/dune-python/blob/694ae69fe57de42b1a87373ed9eea8d76a1ebfd3/cmake/modules/FindPython3Interp.cmake
+
+
+unset(PYTHON_EXECUTABLE CACHE)
+set(PYTHONINTERP_FOUND FALSE)
+find_package(PythonInterp 3)
+find_package_handle_standard_args(Python3Interp
+                                  REQUIRED_VARS PYTHONINTERP_FOUND)
+# Set all those variables that we promised
+set(PYTHON3_EXECUTABLE ${PYTHON_EXECUTABLE})
+set(PYTHON3_VERSION_STRING ${PYTHON_VERSION_STRING})
+set(PYTHON3_VERSION_MAJOR ${PYTHON_VERSION_MAJOR})
+set(PYTHON3_VERSION_MINOR ${PYTHON_VERSION_MINOR})
+set(PYTHON3_VERSION_PATCH ${PYTHON_VERSION_PATCH})
+# Now nuke the cache to allow later rerunning of find_package(PythonInterp)
+# with a different required version number.
+unset(PYTHON_EXECUTABLE CACHE)
+set(PYTHONINTERP_FOUND FALSE)

src/CMakeLists.txt

@@ -1,4 +1,5 @@
 add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/interfaces)
+add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/types)
 add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/libs)
 add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/tools)
 add_subdirectory (${CMAKE_CURRENT_SOURCE_DIR}/drivers)

src/interfaces/CMakeLists.txt

@@ -118,4 +118,6 @@ if (build_interfaces_cpp)
     target_link_libraries(JderobotInterfaces ${ice2_LIBRARIES})
 endif()
 
+set(ice_interfaces_INCLUDE_DIRS "${SLICE_CPP_DIR}" CACHE PATH "Find(ice_interfaces)")
+
 endif(NOT DEFINED SLICE_NEW_STYLE)

src/libs/jderobotcomm_cpp/CMakeLists.txt

@@ -0,0 +1,104 @@
+cmake_minimum_required(VERSION 2.8)
+if(roscpp_FOUND)
+    project(jderobotcomm)
+
+    usePython(2)
+
+    list(APPEND Ice_LIBRARIES Ice IceUtil)
+
+    SET (CATKIN_DEVEL_PREFIX ${CMAKE_CURRENT_SOURCE_DIR})
+
+    find_package(catkin REQUIRED COMPONENTS
+      roscpp
+      std_msgs
+      cv_bridge
+      image_transport
+      nav_msgs
+      geometry_msgs
+    )
+
+    catkin_package(
+      CATKIN_DEPENDS roscpp std_msgs message_runtime
+    )
+
+    set(binname ${PROJECT_NAME})
+
+    ### Project config
+    include_directories(
+        include
+        ${jderobottypes_INCLUDE_DIRS}
+        ${Ice_INCLUDE_DIR}
+        ${LIBS_DIR}
+        ${catkin_INCLUDE_DIRS}
+        ${roscpp_INCLUDE_DIRS}
+        ${ice_interfaces_INCLUDE_DIRS}
+    )
+
+
+    set(HEADERS
+        include/jderobot/comm/laserClient.hpp
+        include/jderobot/comm/interfaces/laserClient.hpp
+        include/jderobot/comm/ice/laserIceClient.hpp
+        include/jderobot/comm/ros/translators.hpp
+        include/jderobot/comm/ros/listenerLaser.hpp
+        include/jderobot/comm/cameraClient.hpp
+        include/jderobot/comm/interfaces/cameraClient.hpp
+        include/jderobot/comm/ice/cameraIceClient.hpp
+        include/jderobot/comm/ros/listenerCamera.hpp
+        include/jderobot/comm/pose3dClient.hpp
+        include/jderobot/comm/interfaces/pose3dClient.hpp
+        include/jderobot/comm/ice/pose3dIceClient.hpp
+        include/jderobot/comm/ros/listenerPose.hpp
+        include/jderobot/comm/motorsClient.hpp
+        include/jderobot/comm/interfaces/motorsClient.hpp
+        include/jderobot/comm/ice/motorsIceClient.hpp
+        include/jderobot/comm/ros/publisherMotors.hpp
+    )
+
+    set(SOURCES
+        src/laserClient.cpp
+        src/ice/laserIceClient.cpp
+        src/ros/translators.cpp
+        src/ros/listenerLaser.cpp
+        src/cameraClient.cpp
+        src/ice/cameraIceClient.cpp
+        src/ros/listenerCamera.cpp
+        src/pose3dClient.cpp
+        src/ice/pose3dIceClient.cpp
+        src/ros/listenerPose.cpp
+        src/motorsClient.cpp
+        src/ice/motorsIceClient.cpp
+        src/ros/publisherMotors.cpp
+    )
+
+    ## Adding shared library for common usage
+    add_library(${PROJECT_NAME} SHARED ${SOURCES} ${HEADERS})
+    target_link_libraries(${PROJECT_NAME} ${Ice_LIBRARIES} logger ${Boost_LIBRARIES} colorspacesmm JderobotInterfaces ${catkin_LIBRARIES})
+
+    ## Adding static library for single .so configurations
+    # since target is a shared library, -fPIC must be provided
+    add_library(${PROJECT_NAME}-embedded STATIC ${SOURCES} ${HEADERS})
+    target_link_libraries(${PROJECT_NAME}-embedded ${Ice_LIBRARIES} logger ${Boost_LIBRARIES} colorspacesmm JderobotInterfaces)
+    set_property(TARGET ${PROJECT_NAME}-embedded PROPERTY POSITION_INDEPENDENT_CODE 1)
+
+
+
+    ## Export library variables (like find_package)
+    set(${PROJECT_NAME}_FOUND 1 CACHE BOOL "Find(${PROJECT_NAME})")
+    set(${PROJECT_NAME}_INCLUDE_DIRS "${CMAKE_CURRENT_SOURCE_DIR}/include" CACHE PATH "Find(${PROJECT_NAME})")
+    set(${PROJECT_NAME}_LIBRARY_DIRS "${CMAKE_CURRENT_BINARY_DIR}" CACHE PATH "Find(${PROJECT_NAME})")
+    set(${PROJECT_NAME}_LIBRARIES "${PROJECT_NAME}" CACHE STRINGS "Find(${PROJECT_NAME})")
+
+
+
+    ### Install
+    install(TARGETS ${PROJECT_NAME}
+        DESTINATION ${CMAKE_INSTALL_PREFIX}/lib/jderobot
+        COMPONENT core
+    )
+    install(DIRECTORY include/
+        DESTINATION ${CMAKE_INSTALL_PREFIX}/include
+        COMPONENT core
+    )
+
+endif() ## roscpp_FOUND

src/libs/jderobotcomm_cpp/include/jderobot/comm/cameraClient.hpp

@@ -0,0 +1,50 @@
+/*
+ *  Copyright (C) 1997-2016 JDE Developers Team
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *  Authors :
+ *       Aitor Martinez Fernandez <aitor.martinez.fernandez@gmail.com>
+ */
+
+#ifndef JDEROBOTCOMM_CAMERACLIENT_H
+#define JDEROBOTCOMM_CAMERACLIENT_H
+
+#include <jderobot/types/image.h>
+#include <Ice/Communicator.h>
+#include <Ice/Properties.h>
+#include <jderobot/comm/interfaces/cameraClient.hpp>
+#include <jderobot/comm/ice/cameraIceClient.hpp>
+#include <jderobot/comm/ros/listenerCamera.hpp>
+
+
+
+
+namespace JdeRobotComm {
+
+	/**
+	 * @brief make a CameraClient using propierties
+	 *
+	 *
+	 * @param communicator that contains properties
+	 * @param prefix of client Propierties (example: "kobukiViewer.Camera")
+	 * 
+	 *
+	 * @return null if propierties are wrong
+	 */
+	CameraClient* getCameraClient(Ice::CommunicatorPtr ic, std::string prefix);
+
+
+} //NS
+
+#endif // JDEROBOTCOMM_CAMERACLIENT_H

src/libs/jderobotcomm_cpp/include/jderobot/comm/ice/cameraIceClient.hpp

@@ -0,0 +1,73 @@
+/*
+ *  Copyright (C) 1997-2013 JDE Developers TeamkinectViewer.camRGB
+ *
+ *  This program is free software: you can redistribute it and/or modify
+ *  it under the terms of the GNU General Public License as published by
+ *  the Free Software Foundation, either version 3 of the License, or
+ *  (at your option) any later version.
+ *
+ *  This program is distributed in the hope that it will be useful,
+ *  but WITHOUT ANY WARRANTY; without even the implied warranty of
+ *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+ *  GNU General Public License for more details.
+ *
+ *  You should have received a copy of the GNU General Public License
+ *  along with this program.  If not, see http://www.gnu.org/licenses/.
+ *
+ *  Author : Jose María Cañas <jmplaza@gsyc.es>
+			Francisco Miguel Rivas Montero <franciscomiguel.rivas@urjc.es>
+
+ */
+
+#ifndef JDEROBOTCOMM_CAMERAICECLIENT_H_
+#define JDEROBOTCOMM_CAMERAICECLIENT_H_
+
+#include <IceUtil/IceUtil.h>
+#include <Ice/Ice.h>
+#include <visionlib/colorspaces/colorspacesmm.h>
+#include <jderobot/camera.h>
+#include <cv.h>
+#include <logger/Logger.h>
+#include <jderobot/types/image.h>
+#include <jderobot/comm/interfaces/cameraClient.hpp>
+#include <zlib.h>
+
+namespace JdeRobotComm {
+
+class CameraIceClient: public IceUtil::Thread, public JdeRobotComm::CameraClient {
+public:
+	CameraIceClient(Ice::CommunicatorPtr ic, std::string prefix);
+	virtual ~CameraIceClient();
+	virtual void run();
+
+	//callbacks
+	virtual JdeRobotTypes::Image getImage();
+	virtual int getRefreshRate();
+
+
+	void pause();
+	void resume();
+	void reset();
+	void stop_thread();
+	bool getPause(){return pauseStatus;};
+
+	jderobot::ImageFormat getImageFormat();
+	void setImageFormat (std::string format);
+
+
+private:
+	jderobot::CameraPrx prx;
+	long long int cycle;
+
+	IceUtil::Mutex controlMutex;
+	std::string prefix;
+
+	bool pauseStatus;
+
+	IceUtil::Cond semWait;
+	std::string mImageFormat;
+
+};
+
+} /* namespace JdeRobotComm */
+#endif /* JDEROBOTCOMM_CAMERAICECLIENT_H_ */