ros/include/ros_types.h

Go to the documentation of this file.

#ifndef __ROS_TYPES_H__
#define __ROS_TYPES_H__
/* ROS includes */
#include "ros_std.h"
#include "ros_config.h"
/******************************************************/
/*                                                    */
/*                  PROTOTYPES                        */
/*                                                    */
/******************************************************/
typedef struct rosMessageHandle rosMessageHandle_t;
/******************************************************/
/*                                                    */
/*                 RETURN CODES                       */
/*                                                    */
/******************************************************/
typedef enum rosReturnCode
{
  ROS_NOT_OK = 0, 
  ROS_OK, 
  ROS_SUCCESS, 
  ROS_FAIL, 
  ROS_INIT_NOT_CALLED, 
  ROS_NODEHANDLE_NOT_CONFIGURED, 
  ROS_CONFIGURING, 
  ROS_OUT_OF_MEMORY, 
  ROS_FIFO_BUFFER_EMPTY, 
  ROS_FIFO_BUFFER_OVERFLOW, 
} rosReturnCode_t;
/******************************************************/
/*                                                    */
/*                 FIFO BUFFER                        */
/*                                                    */
/******************************************************/
typedef struct rosFifoBuffer
{
  uint8_t *data; 
  uint8_t read_index; 
  uint8_t write_index; 
  rosReturnCode_t (*write)(uint8_t* byte); 
  rosReturnCode_t (*read)(uint8_t* byte); 
} rosFifoBuffer_t;
/******************************************************/
/*                                                    */
/*                    PACKET                          */
/*                                                    */
/******************************************************/
typedef struct rosPacket
{
  union
  {
    uint8_t sync_flag_[2]; 
    uint16_t sync_flag; 
  };
  union
  {
    uint8_t topic_id_[2]; 
    uint16_t topic_id; 
  };
  union
  {
    uint8_t message_length_[2]; 
    uint16_t message_length; 
  };
  uint8_t* buffer; 
  uint16_t buffer_size; 
  uint8_t checksum; 
} rosPacket_t;
/******************************************************/
/*                                                    */
/*                     TIME                           */
/*                                                    */
/******************************************************/
typedef struct rosTime
{
  uint32_t sec;
  uint32_t nsec;
} rosTime_t;
typedef struct rosRate
{
  uint32_t last_wake_time;
  uint32_t frequency;
} rosRate_t;
/******************************************************/
/*                                                    */
/*                  PUBLISHER                         */
/*                                                    */
/******************************************************/
typedef struct rosPublisher
{
  rosMessageHandle_t* messagehandle; 
  rosReturnCode_t (*publish)(void* message);  
} rosPublisher_t;
/******************************************************/
/*                                                    */
/*                  SUBSCRIBER                        */
/*                                                    */
/******************************************************/
typedef struct rosSubscriber
{
  rosMessageHandle_t* messagehandle; 
  void (*callback)(void* message);  
} rosSubscriber_t;
/******************************************************/
/*                                                    */
/*                  INTERFACE                         */
/*                                                    */
/******************************************************/
typedef enum INTERFACE_TYPE
{
  SLAVE,
  MASTER,
  BRIDGE,
  LOOPBACK,
} rosInterfaceType_t;
typedef struct rosInterface
{
  char* device_id; 
  rosReturnCode_t (*send)(void* data); 
  rosReturnCode_t (*receive)(void* data); 
//  bool package_oriented; /**< Used to determine if send function is called once or more */
  rosInterfaceType_t interface_type; 
} rosInterface_t;
/******************************************************/
/*                                                    */
/*                  NODEHANDLE                        */
/*                                                    */
/******************************************************/
typedef struct rosNodeHandle
{
  rosPublisher_t* (*advertise)(rosMessageHandle_t* messagehandle, char* topic, uint16_t buffer_size);
  rosSubscriber_t* (*subscribe)(rosMessageHandle_t* messagehandle, char* topic, uint16_t buffer_size, void (*callback)(void* message));
  struct rosSpinner* spinner; 
  rosInterface_t* interface; 
  rosPublisher_t *publishers[MAX_PUBLISHERS]; 
  rosSubscriber_t *subscribers[MAX_SUBSCRIBERS]; 
  uint8_t publisher_count; 
  uint8_t subscriber_count; 
  rosReturnCode_t ok; 
  rosReturnCode_t configured; 
} rosNodeHandle_t;
/******************************************************/
/*                                                    */
/*                  MESSAGEHANDLE                     */
/*                                                    */
/******************************************************/
typedef struct rosMessageHandle
{
  char* type; 
  char* topic; 
  char* md5sum; 
  uint16_t id; 
  uint16_t buffer_size; 
  rosNodeHandle_t *nodehandle; 
  int (*sizer)(void* message); 
  void (*serializer)(void* message, uint8_t* buffer, int pos); 
  void (*deserializer)(void* message, uint8_t* buffer, int pos); 
} rosMessageHandle_t;
/******************************************************/
/*                                                    */
/*                    OS ROS NODES                    */
/*                                                    */
/******************************************************/
typedef struct osROSNode
{
  void (*node_func)(void* args);
  const char* name;
  uint16_t stack_size;
  uint8_t priority; 
  void* args;
} osROSNode_t;
#endif /* #ifndef __ROS_TYPES_H__ */