[issue #956] added support for bumper to comm

src/libs/comm_cpp/CMakeLists.txt

@@ -58,6 +58,9 @@ set(HEADERS
     include/jderobot/comm/ardroneextraClient.hpp
     include/jderobot/comm/interfaces/ardroneextraClient.hpp
     include/jderobot/comm/ice/ardroneextraIceClient.hpp
+    include/jderobot/comm/bumperClient.hpp
+    include/jderobot/comm/interfaces/bumperClient.hpp
+    include/jderobot/comm/ice/bumperIceClient.hpp
 )
 
 set(SOURCES
@@ -78,6 +81,8 @@ set(SOURCES
     src/ice/ardroneextraIceClient.cpp
     src/navdataClient.cpp
     src/ice/navdataIceClient.cpp
+    src/bumperClient.cpp
+    src/ice/bumperIceClient.cpp
 )
 
 
@@ -90,6 +95,7 @@ IF(JDEROBOTCOM_ROS)
         include/jderobot/comm/ros/listenerCamera.hpp
         include/jderobot/comm/ros/listenerPose.hpp
         include/jderobot/comm/ros/publisherMotors.hpp
+        include/jderobot/comm/ros/listenerBumper.hpp
     )
 
     set(SOURCES
@@ -99,6 +105,7 @@ IF(JDEROBOTCOM_ROS)
         src/ros/listenerCamera.cpp
         src/ros/listenerPose.cpp
         src/ros/publisherMotors.cpp
+        src/ros/listenerBumper.cpp
     )
 
 ENDIF()

src/libs/comm_cpp/include/jderobot/comm/bumperClient.hpp

@@ -0,0 +1,48 @@
+/*
+ *  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_BUMPERCLIENT_H
+#define JDEROBOTCOMM_BUMPERCLIENT_H
+
+#include <jderobot/types/bumperData.h>
+#include <Ice/Communicator.h>
+#include <jderobot/comm/communicator.hpp>
+#include <jderobot/comm/interfaces/bumperClient.hpp>
+
+
+
+
+namespace Comm {
+
+	/**
+	 * @brief make a BumperClient using propierties
+	 *
+	 *
+	 * @param communicator that contains properties
+	 * @param prefix of client Propierties (example: "kobukiViewer.Bumper")
+	 * 
+	 *
+	 * @return null if propierties are wrong
+	 */
+	BumperClient* getBumperClient(Comm::Communicator* jdrc, std::string prefix);
+
+
+} //NS
+
+#endif // JDEROBOTCOMM_BUMPERCLIENT_H

src/libs/comm_cpp/include/jderobot/comm/ice/bumperIceClient.hpp

@@ -0,0 +1,69 @@
+/*
+ *  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_BUMPERICECLIENT_H_
+#define JDEROBOTCOMM_BUMPERICECLIENT_H_
+
+#include <IceUtil/IceUtil.h>
+#include <iostream>
+#include <Ice/Ice.h>
+#include <jderobot/bumper.h>
+#include <sstream>
+#include <fstream>
+#include <logger/Logger.h>
+#include <jderobot/types/bumperData.h>
+#include <jderobot/comm/communicator.hpp>
+#include <jderobot/comm/interfaces/bumperClient.hpp>
+
+namespace Comm {
+
+
+class BumperIceClient: public IceUtil::Thread, public Comm::BumperClient {
+public:
+	BumperIceClient(Comm::Communicator* jdrc, std::string prefix);
+	virtual ~BumperIceClient();
+	virtual void run();
+
+	virtual JdeRobotTypes::BumperData  getBumperData();
+	int getRefreshRate(){return refreshRate;};
+	void pause();
+	void resume();
+	bool getPause(){return pauseStatus;};
+
+
+
+private:
+	std::string prefix;
+	jderobot::BumperPrx prx;
+	long long int cycle;
+	IceUtil::Mutex controlMutex;
+	bool debug;
+	bool _done;
+	int refreshRate;
+	bool pauseStatus;
+
+	IceUtil::Cond sem;
+
+};
+
+
+} /* namespace jderobot */
+#endif /* JDEROBOTCOMM_BUMPERICECLIENT_H_ */

src/libs/comm_cpp/include/jderobot/comm/interfaces/bumperClient.hpp

@@ -0,0 +1,44 @@
+/*
+ *  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_BUMPERCLIENT_INTERFACE_H
+#define JDEROBOTCOMM_BUMPERCLIENT_INTERFACE_H
+
+#include <jderobot/types/bumperData.h>
+
+
+namespace Comm {
+
+	/**
+	 * @brief BumperClient class.
+	 * This class is a Interface to seprate communications from tools. 
+	 * With this, the tools don't need know which communicator (ROS or ICE) are using because both use the same interface.
+	 *
+	 */
+	class BumperClient {
+	public:
+		virtual JdeRobotTypes::BumperData getBumperData() = 0;
+		bool on = false;
+	protected:
+		JdeRobotTypes::BumperData bumperData;
+	};
+
+} //NS
+
+#endif // JDEROBOTCOMM_BUMPERCLIENT_INTERFACE_H

src/libs/comm_cpp/include/jderobot/comm/ros/listenerBumper.hpp

@@ -0,0 +1,60 @@
+/*
+ *  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_LISTENERBUMPER_H_
+#define JDEROBOTCOMM_LISTENERBUMPER_H_
+
+
+#include <ros/ros.h>
+#include <kobuki_msgs/BumperEvent.h>
+#include <boost/thread/thread.hpp>
+#include <jderobot/types/bumperData.h>
+#include <jderobot/comm/interfaces/bumperClient.hpp>
+#include <jderobot/comm/ros/translators.hpp>
+
+namespace Comm {
+	class ListenerBumper: public Comm::BumperClient {
+
+	public:
+		ListenerBumper(int argc, char** argv, std::string nodeName, std::string topic);
+		~ListenerBumper();
+
+		void start();
+		void stop();
+		virtual JdeRobotTypes::BumperData  getBumperData();
+
+
+	private:
+		pthread_mutex_t mutex;
+		ros::Subscriber sub;
+		std::string topic;
+		std::string nodeName;
+
+		ros::AsyncSpinner* spinner;
+
+		void bumpercallback (const kobuki_msgs::BumperEventConstPtr& bumper_msg);
+
+
+
+
+
+	};//class
+
+} //NS
+#endif /* JDEROBOTCOMM_LISTENERBUMPER_H_ */

src/libs/comm_cpp/include/jderobot/comm/ros/translators.hpp

@@ -41,6 +41,9 @@
 #include <jderobot/types/cmdvel.h>
 #include <geometry_msgs/Twist.h>
 
+#include <kobuki_msgs/BumperEvent.h>
+#include <jderobot/types/bumperData.h>
+
 
 namespace Comm {
 
@@ -55,6 +58,17 @@ namespace Comm {
 	 */
 	JdeRobotTypes::LaserData translate_laser_messages(const sensor_msgs::LaserScanConstPtr& scan);
 
+	/**
+	 * @brief translate ROS BumperEvent messages to JdeRobot BumperData
+	 *
+	 *
+	 * @param ROS kobuki Bumper Event Message
+	 * 
+	 *
+	 * @return BumperData translated from ROS Message 
+	 */
+	JdeRobotTypes::BumperData translate_bumper_messages(const kobuki_msgs::BumperEventConstPtr& bump);
+
 	/**
 	 * @brief translate ROS Image messages to JdeRobot Image
 	 *

src/libs/comm_cpp/package.xml

@@ -46,6 +46,7 @@
   <build_depend>image_transport</build_depend>
   <build_depend>nav_msgs</build_depend>
   <build_depend>geometry_msgs</build_depend>
+  <build_depend>kobuki_msgs</build_depend>
 
   <run_depend>message_runtime</run_depend>
   <run_depend>roscpp</run_depend>
@@ -54,6 +55,7 @@
   <run_depend>image_transport</run_depend>
   <run_depend>nav_msgs</run_depend>
   <run_depend>geometry_msgs</run_depend>
+  <run_depend>kobuki_msgs</run_depend>
 
 
   <!-- The export tag contains other, unspecified, tags -->

src/libs/comm_cpp/src/bumperClient.cpp

@@ -0,0 +1,60 @@
+#include <jderobot/comm/interfaces/bumperClient.hpp>
+#include <jderobot/comm/ice/bumperIceClient.hpp>
+#ifdef JDERROS
+#include <jderobot/comm/ros/listenerBumper.hpp>
+#endif
+
+namespace Comm {
+
+BumperClient* 
+getBumperClient(Comm::Communicator* jdrc, std::string prefix){
+	BumperClient* client = 0;
+
+	int server = jdrc->getConfig().asIntWithDefault(prefix+".Server", 0);
+	switch (server){
+		case 0:
+		{
+			std::cout << "Bumper disabled" << std::endl;
+			break;
+		}
+		case 1:
+		{
+			std::cout << "Receiving BumperData from ICE interfaces" << std::endl;
+			BumperIceClient* cl;
+			cl = new BumperIceClient(jdrc, prefix);
+			cl->start();
+		    client = (Comm::BumperClient*) cl;
+		    break;
+		}
+		case 2:
+		{
+            #ifdef JDERROS
+                std::cout << "Receiving BumperData from ROS messages" << std::endl;
+                std::string nodeName;
+                nodeName =  jdrc->getConfig().asStringWithDefault(prefix+".Name", "BumperNode");
+				std::string topic;
+				topic = jdrc->getConfig().asStringWithDefault(prefix+".Topic", "");
+                ListenerBumper* lc;
+                lc = new ListenerBumper(0, nullptr, nodeName, topic);
+                lc->start();
+                client = (Comm::BumperClient*) lc;
+            #else
+                throw "ERROR: ROS is not available";
+            #endif
+
+		 	break;
+		}
+		default:
+		{
+			std::cerr << "Wrong " + prefix+".Server property" << std::endl;
+			break;
+		}
+
+	}
+
+	return client;
+
+
+}
+
+}//NS