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https://git.ti.com/git/mmwave_radar/mmwave_ti_ros.git
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84 lines
2.7 KiB
C++
84 lines
2.7 KiB
C++
/*
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* mmWaveCommSrv.hpp
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*
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* This file defines a ROS nodelet which will open up a serial port provided by the user
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* at a certain baud rate (also provided by user) that will interface with the 1443EVM mmwDemo
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* User UART to be used for board configuration.
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*
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*
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* Copyright (C) 2017 Texas Instruments Incorporated - http://www.ti.com/
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*
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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*
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in the
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* documentation and/or other materials provided with the
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* distribution.
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*
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* Neither the name of Texas Instruments Incorporated nor the names of
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* its contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
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* A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
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* OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
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* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
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* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
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* DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
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* THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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* (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
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* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*
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*/
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#ifndef MMWAVE_COMM_SRV_H
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#define MMWAVE_COMM_SRV_H
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/*Include ROS specific headers*/
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#include "ros/ros.h"
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#include "std_msgs/String.h"
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#include "serial/serial.h"
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#include <pluginlib/class_list_macros.h>
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#include <nodelet/nodelet.h>
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/*Include standard C/C++ headers*/
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#include <iostream>
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#include <cstdio>
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#include <sstream>
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/*mmWave Driver Headers*/
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#include <ti_mmwave_rospkg/mmWaveCLI.h>
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namespace ti_mmwave_rospkg
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{
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class mmWaveCommSrv : public nodelet::Nodelet
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{
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public:
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mmWaveCommSrv();
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private:
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virtual void onInit();
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bool commSrv_cb(ti_mmwave_rospkg::mmWaveCLI::Request &req, ti_mmwave_rospkg::mmWaveCLI::Response &res);
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ros::ServiceServer commSrv;
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std::string mySerialPort;
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int myBaudRate;
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}; //Class mmWaveCommSrv
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} //namespace ti_mmwave_rospkg
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#endif
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