rename to ros2_example

Author: Alex Beh

CMakeLists.txt

@@ -14,41 +14,3 @@ add_subdirectory(infinite_sense_core)
 
 add_subdirectory(tools)
 add_subdirectory(example)
-
-find_package(ZeroMQ QUIET)
-if (ZeroMQ_FOUND)
-  message(STATUS "ZMQ found, Compiling ZMQ nodes")
-  find_package(ZeroMQ REQUIRED)
-  if (NOT ZeroMQ_LIBRARIES)
-    message(WARNING "ZeroMQ_LIBRARIES is empty. Using manual linking fallback.")
-    set(ZeroMQ_LIBRARIES zmq)
-  endif()
-
-  find_package(Threads REQUIRED)
-
-  message(STATUS "ZeroMQ_LIBRARIES: ${ZeroMQ_LIBRARIES}")
-  message(STATUS "ZeroMQ_INCLUDE_DIRS: ${ZeroMQ_INCLUDE_DIRS}")
-
-  add_executable(${PROJECT_NAME}_zmq_node
-          example/ZMQ/zmq_main.cpp
-          infinite_sense_core/src/messenger.cpp
-  )
-  target_include_directories(${PROJECT_NAME}_zmq_node PRIVATE
-      ${ZeroMQ_INCLUDE_DIRS}
-  )
-  target_link_libraries(${PROJECT_NAME}_zmq_node PRIVATE
-      Threads::Threads
-      ${ZeroMQ_LIBRARIES}
-      infinite_sense_core
-  )
-endif ()
-
-# Conditionally add ROS 2 components
-find_package(rclcpp QUIET)
-find_package(rclcpp_components QUIET)
-if(rclcpp_FOUND AND rclcpp_components_FOUND)
-  message(STATUS "ROS 2 detected, adding example/ros2_components components...")
-  add_subdirectory(example/ros2_components)
-else()
-  message(STATUS "ROS 2 not found. Skipping ROS 2 components.")
-endif()

example/CMakeLists.txt

@@ -2,4 +2,5 @@ cmake_minimum_required(VERSION 3.10)
 project(example)
 
 add_subdirectory(GigeCam)
-add_subdirectory(CustomCam)
+add_subdirectory(CustomCam)
+add_subdirectory(ros2_example)

example/ros2_components/CMakeLists.txt

@@ -0,0 +1,67 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(ros2_example VERSION 1.0)
+
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclcpp_components REQUIRED)
+find_package(std_msgs REQUIRED)
+
+# === InfiniteSense SDK ===
+set(INFINITE_SENSE_INCLUDE_DIR "${CMAKE_SOURCE_DIR}/infinite_sense_core/include")
+set(INFINITE_SENSE_LIB_NAME infinite_sense_core)
+
+# === Component (shared library) ===
+add_library(synchronizer_component SHARED
+  synchronizer_component.cpp
+)
+
+target_include_directories(synchronizer_component 
+  PUBLIC
+    $<BUILD_INTERFACE:${INFINITE_SENSE_INCLUDE_DIR}>
+    $<INSTALL_INTERFACE:include>
+)
+
+target_link_libraries(synchronizer_component
+  ${INFINITE_SENSE_LIB_NAME}
+)
+
+ament_target_dependencies(synchronizer_component
+  rclcpp
+  rclcpp_components
+  std_msgs
+)
+
+rclcpp_components_register_nodes(synchronizer_component SynchronizerComponent)
+
+# === Standalone ROS 2 Node (executable) ===
+add_executable(synchronizer_node
+  synchronizer_node.cpp
+)
+
+target_include_directories(synchronizer_node 
+  PUBLIC
+    ${INFINITE_SENSE_INCLUDE_DIR}
+)
+
+target_link_libraries(synchronizer_node
+  ${INFINITE_SENSE_LIB_NAME}
+)
+
+ament_target_dependencies(synchronizer_node
+  rclcpp
+  std_msgs
+)
+
+# === Installation ===
+install(TARGETS
+  synchronizer_component
+  synchronizer_node
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION lib/${PROJECT_NAME}
+)
+
+# === Export ===
+ament_export_targets(synchronizer_component HAS_LIBRARY_TARGET)
+ament_export_dependencies(rclcpp rclcpp_components std_msgs)

example/ros2_example/CMakeLists.txt

@@ -17,14 +17,17 @@ class SynchronizerComponent : public rclcpp::Node
         RCLCPP_INFO(get_logger(), "Initializing SynchronizerComponent...");
 
         // Set up the serial connection
-        synchronizer_.SetSerialLink("/dev/ttyACM0", 460800);
+        // synchronizer_.SetUsbLink("/dev/ttyACM0", 460800);
 
-        // Optionally: SetNetLink or UseMvCam
-        // synchronizer_.SetNetLink("192.168.1.188", 8888);
-        // synchronizer_.UseMvCam();
+        synchronizer_.SetNetLink("192.168.1.188", 8888);
 
+        // 2.配置同步接口
+        // auto mv_cam = std::make_shared<CustomCam>();
+        // mv_cam->SetParams({{"camera_1", CAM_1},{"camera_2", CAM_2},});
+        // synchronizer_.UseSensor(mv_cam);
+
+        // 3.开启同步
         synchronizer_.Start();
-        Synchronizer::PrintSummary();
 
         // Setup a timer instead of while loop
         timer_ = this->create_wall_timer(1s, [this]() {

…s2_components/synchronizer_component.cpp …/ros2_example/synchronizer_component.cppexample/ros2_components/synchronizer_component.cpp renamed to example/ros2_example/synchronizer_component.cpp example/ros2_components/synchronizer_component.cpp renamed to example/ros2_example/synchronizer_component.cpp

@@ -0,0 +1,89 @@
+#include "infinite_sense.h"
+#include "rclcpp/rclcpp.hpp"
+#include <chrono>
+#include <fstream>
+#include <thread>
+
+namespace infinite_sense {
+class CustomCam final : public Sensor {
+ public:
+  ~CustomCam() override { Stop(); }
+  bool Initialization() override { return true; }
+  void Stop() override {}
+  void Start() override {}
+
+ private:
+  void Receive(void *handle, const std::string &) override {
+    // Dummy implementation to satisfy linker
+  }
+};
+}  // namespace infinite_sense
+
+using namespace std::chrono_literals;
+using namespace infinite_sense;
+
+class SynchronizerNode : public rclcpp::Node {
+ public:
+  SynchronizerNode() : Node("synchronizer_node") {
+    RCLCPP_INFO(get_logger(), "Initializing SynchronizerNode...");
+
+    synchronizer_.SetUsbLink("/dev/ttyACM0", 921600);
+    // synchronizer_.SetNetLink("192.168.1.188", 8888);
+
+    auto mv_cam = std::make_shared<CustomCam>();
+    mv_cam->SetParams({
+        {"basler_middle", CAM_1},
+        {"basler_left", CAM_1},
+    });
+    synchronizer_.UseSensor(mv_cam);
+
+    synchronizer_.Start();
+    RCLCPP_INFO(this->get_logger(), "Synchronizer started!");
+
+    log_file_.open("last_trigger_times.log", std::ios::out | std::ios::trunc);
+    if (!log_file_.is_open()) {
+      RCLCPP_ERROR(this->get_logger(), "Failed to open log file for trigger times!");
+    } else {
+      log_file_ << "Trigger times log:\n====================\n";
+    }
+
+    timer_ = this->create_wall_timer(1s, [this]() {
+      RCLCPP_INFO(this->get_logger(), "Logging trigger times...");
+      log_file_ << "Trigger log at: " << this->get_clock()->now().nanoseconds() << " ns\n";
+
+      for (const auto &[name, cam_id] : std::map<std::string, TriggerDevice>{
+               {"basler_middle", CAM_1},
+               {"basler_left", CAM_1},
+           }) {
+        uint64_t trigger_time = 0;
+        if (GET_LAST_TRIGGER_STATUS(cam_id, trigger_time)) {
+          log_file_ << name << ": " << trigger_time << " us\n";
+        } else {
+          log_file_ << name << ": (no trigger yet)\n";
+        }
+      }
+    });
+  }
+
+  ~SynchronizerNode() {
+    RCLCPP_INFO(this->get_logger(), "Closing log file...");
+    if (log_file_.is_open()) {
+      log_file_.close();
+    }
+    RCLCPP_INFO(this->get_logger(), "Shutting down synchronizer...");
+    synchronizer_.Stop();
+    RCLCPP_INFO(this->get_logger(), "SynchronizerNode shutdown complete.");
+  }
+
+ private:
+  Synchronizer synchronizer_;
+  rclcpp::TimerBase::SharedPtr timer_;
+  std::ofstream log_file_;
+};
+
+int main(int argc, char **argv) {
+  rclcpp::init(argc, argv);
+  rclcpp::spin(std::make_shared<SynchronizerNode>());
+  rclcpp::shutdown();
+  return 0;
+}