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added rosserial library
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‎pio_workspace/lib/ros_lib/ArduinoHardware.h‎

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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Willow Garage, Inc.
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* All rights reserved.
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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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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote prducts 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
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef ROS_ARDUINO_HARDWARE_H_
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#define ROS_ARDUINO_HARDWARE_H_
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#if ARDUINO>=100
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#include <Arduino.h> // Arduino 1.0
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#else
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#include <WProgram.h> // Arduino 0022
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#endif
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#if defined(__MK20DX128__) || defined(__MK20DX256__) || defined(__MK64FX512__) || defined(__MK66FX1M0__) || defined(__MKL26Z64__) || defined(__IMXRT1062__)
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#if defined(USE_TEENSY_HW_SERIAL)
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#define SERIAL_CLASS HardwareSerial // Teensy HW Serial
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#else
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#include <usb_serial.h> // Teensy 3.0 and 3.1
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#define SERIAL_CLASS usb_serial_class
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#endif
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#elif defined(_SAM3XA_)
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#include <UARTClass.h> // Arduino Due
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#define SERIAL_CLASS UARTClass
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#elif defined(USE_USBCON)
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// Arduino Leonardo USB Serial Port
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#define SERIAL_CLASS Serial_
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#elif (defined(__STM32F1__) and !(defined(USE_STM32_HW_SERIAL))) or defined(SPARK)
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// Stm32duino Maple mini USB Serial Port
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#define SERIAL_CLASS USBSerial
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#else
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#include <HardwareSerial.h> // Arduino AVR
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#define SERIAL_CLASS HardwareSerial
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#endif
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class ArduinoHardware {
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public:
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ArduinoHardware(SERIAL_CLASS* io , long baud= 57600){
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iostream = io;
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baud_ = baud;
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}
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ArduinoHardware()
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{
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#if defined(USBCON) and !(defined(USE_USBCON))
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/* Leonardo support */
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iostream = &Serial1;
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#elif defined(USE_TEENSY_HW_SERIAL) or defined(USE_STM32_HW_SERIAL)
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iostream = &Serial1;
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#else
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iostream = &Serial;
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#endif
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baud_ = 57600;
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}
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ArduinoHardware(ArduinoHardware& h){
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this->iostream = h.iostream;
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this->baud_ = h.baud_;
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}
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void setPort(SERIAL_CLASS* io){
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this->iostream = io;
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}
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void setBaud(long baud){
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this->baud_= baud;
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}
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int getBaud(){return baud_;}
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void init(){
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#if defined(USE_USBCON)
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// Startup delay as a fail-safe to upload a new sketch
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delay(3000);
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#endif
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iostream->begin(baud_);
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}
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int read(){return iostream->read();};
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void write(uint8_t* data, int length){
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iostream->write(data, length);
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}
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unsigned long time(){return millis();}
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protected:
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SERIAL_CLASS* iostream;
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long baud_;
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};
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#endif

‎pio_workspace/lib/ros_lib/ArduinoTcpHardware.h‎

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/*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2011, Willow Garage, Inc.
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* All rights reserved.
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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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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote prducts 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
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef ROS_ARDUINO_TCP_HARDWARE_H_
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#define ROS_ARDUINO_TCP_HARDWARE_H_
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#include <Arduino.h>
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#if defined(ESP8266)
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#include <ESP8266WiFi.h>
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#elif defined(ESP32)
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#include <WiFi.h> // Using Espressif's WiFi.h
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#else
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#include <SPI.h>
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#include <Ethernet.h>
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#endif
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class ArduinoHardware {
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public:
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ArduinoHardware()
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{
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}
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void setConnection(IPAddress &server, int port = 11411)
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{
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server_ = server;
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serverPort_ = port;
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}
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IPAddress getLocalIP()
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{
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#if defined(ESP8266) or defined(ESP32)
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return tcp_.localIP();
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#else
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return Ethernet.localIP();
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#endif
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}
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void init()
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{
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if(tcp_.connected())
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{
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tcp_.stop();
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}
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tcp_.connect(server_, serverPort_);
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}
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int read(){
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if (tcp_.connected())
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{
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return tcp_.read();
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}
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else
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{
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tcp_.stop();
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tcp_.connect(server_, serverPort_);
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}
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return -1;
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}
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void write(const uint8_t* data, int length)
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{
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tcp_.write(data, length);
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}
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unsigned long time()
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{
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return millis();
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}
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bool connected()
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{
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return tcp_.connected();
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}
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protected:
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#if defined(ESP8266) or defined(ESP32)
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WiFiClient tcp_;
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#else
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EthernetClient tcp_;
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#endif
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IPAddress server_;
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uint16_t serverPort_ = 11411;
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};
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#endif

‎pio_workspace/lib/ros_lib/actionlib/TestAction.h‎

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#ifndef _ROS_actionlib_TestAction_h
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#define _ROS_actionlib_TestAction_h
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#include <stdint.h>
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#include <string.h>
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#include <stdlib.h>
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#include "ros/msg.h"
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#include "actionlib/TestActionGoal.h"
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#include "actionlib/TestActionResult.h"
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#include "actionlib/TestActionFeedback.h"
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namespace actionlib
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{
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class TestAction : public ros::Msg
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{
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public:
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typedef actionlib::TestActionGoal _action_goal_type;
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_action_goal_type action_goal;
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typedef actionlib::TestActionResult _action_result_type;
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_action_result_type action_result;
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typedef actionlib::TestActionFeedback _action_feedback_type;
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_action_feedback_type action_feedback;
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TestAction():
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action_goal(),
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action_result(),
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action_feedback()
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{
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}
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virtual int serialize(unsigned char *outbuffer) const override
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{
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int offset = 0;
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offset += this->action_goal.serialize(outbuffer + offset);
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offset += this->action_result.serialize(outbuffer + offset);
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offset += this->action_feedback.serialize(outbuffer + offset);
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return offset;
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}
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virtual int deserialize(unsigned char *inbuffer) override
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{
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int offset = 0;
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offset += this->action_goal.deserialize(inbuffer + offset);
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offset += this->action_result.deserialize(inbuffer + offset);
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offset += this->action_feedback.deserialize(inbuffer + offset);
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return offset;
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}
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virtual const char * getType() override { return "actionlib/TestAction"; };
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virtual const char * getMD5() override { return "991e87a72802262dfbe5d1b3cf6efc9a"; };
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};
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}
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#endif

‎pio_workspace/lib/ros_lib/actionlib/TestActionFeedback.h‎

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#ifndef _ROS_actionlib_TestActionFeedback_h
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#define _ROS_actionlib_TestActionFeedback_h
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#include <stdint.h>
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#include <string.h>
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#include <stdlib.h>
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#include "ros/msg.h"
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#include "std_msgs/Header.h"
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#include "actionlib_msgs/GoalStatus.h"
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#include "actionlib/TestFeedback.h"
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namespace actionlib
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{
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class TestActionFeedback : public ros::Msg
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{
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public:
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typedef std_msgs::Header _header_type;
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_header_type header;
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typedef actionlib_msgs::GoalStatus _status_type;
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_status_type status;
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typedef actionlib::TestFeedback _feedback_type;
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_feedback_type feedback;
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TestActionFeedback():
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header(),
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status(),
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feedback()
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{
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}
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virtual int serialize(unsigned char *outbuffer) const override
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{
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int offset = 0;
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offset += this->header.serialize(outbuffer + offset);
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offset += this->status.serialize(outbuffer + offset);
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offset += this->feedback.serialize(outbuffer + offset);
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return offset;
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}
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virtual int deserialize(unsigned char *inbuffer) override
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{
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int offset = 0;
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offset += this->header.deserialize(inbuffer + offset);
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offset += this->status.deserialize(inbuffer + offset);
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offset += this->feedback.deserialize(inbuffer + offset);
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return offset;
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}
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virtual const char * getType() override { return "actionlib/TestActionFeedback"; };
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virtual const char * getMD5() override { return "6d3d0bf7fb3dda24779c010a9f3eb7cb"; };
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};
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}
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#endif

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