Merge pull request #12 from tlk-emb/revert_workspace

Revert workspace

.gitignore

@@ -4,10 +4,16 @@
 *.bin
 *.history
 
+# for ROS catkin_ws
+ros_catkin_ws/.catkin_workspace
+ros_catkin_ws/build
+ros_catkin_ws/devel
+ros_catkin_ws/src/CMakeLists.txt
+
 # for TrueSTUDIO
-workspace/.metadata/
-workspace/*/.metadata/
-workspace/*/.settings/language.settings.xml
+mros_ws/.metadata/
+mros_ws/*/.metadata/
+mros_ws/*/.settings/language.settings.xml
 
 # for ASP
 asp

workspace/Makefile.asp → mros_ws/Makefile.asp

@@ -654,4 +654,4 @@ $(APPL_ASMOBJS:.o=.d): %.d: %.S
 genmsg:
 ifeq ($(GEN_MSG),true)
 	$(PYTHON) $(MROS_DIR)/../mros_msg-gen/mros_msg-gen.py $(MSG_SETTING_JSON)
-endif
+endif

workspace/Makefile.mros → mros_ws/Makefile.mros

@@ -3,9 +3,9 @@ MROS_LIB = libmros
 ALL_MROS_OBJ = $(MROS_C_OBJ) $(MROS_CXX_OBJ)
 
 
-.PHONY: all clean genmsg
+.PHONY: all clean
 
-all: $(MROS_LIB).a
+all: genmsg $(MROS_LIB).a
 #clean:
 #	rm -f $(MROS_LIB).lib $(ALL_MROS_OBJ) $(DEPS)
 
@@ -17,7 +17,7 @@ $(MROS_CXX_OBJ:.o=.s): %.s: %.cpp
 	$(CPP) -S $(CFLAGS) $(APPL_CXXFLAGS) $(MROS_INCLUDE_PATHS) -o $@ $< 
 endif
 
-$(MROS_LIB).a: genmsg $(ALL_MROS_OBJ)
+$(MROS_LIB).a: $(ALL_MROS_OBJ)
 	rm -f $(MROS_LIB).a
 	$(AR) -rcs $(MROS_LIB).a $(ALL_MROS_OBJ)
 	$(RANLIB) $(MROS_LIB).a
@@ -28,14 +28,12 @@ DEPS += $(ALL_MROS_OBJ:.o=.d)
 APPL_LIBS = $(MROS_LIB).a libmbed.a
 
 INCLUDES += $(MROS_INCLUDE_PATHS)  # MROSライブラリのヘッダファイルをアプリで使う
-INCLUDES += -I$(MROS_DIR)/../workspace/$(APPNAME)/include
+INCLUDES += -I$(MROS_DIR)/../mros_ws/$(APPNAME)/include
 INCLUDES += -I$(MROS_DIR)/mros-msgs 
 # INCLUDES += -I/opt/ros/kinetic/include -I/usr/include -I/usr/include/x86_64-linux-gnu -I/usr/include/i386-linux-gnu
 
-genmsg:
-ifneq ($(USE_TRUESTUDIO),true)
+genmsg: $(MSG_SETTING_JSON)
 ifeq ($(GEN_MSG),true)
 	$(PYTHON) $(MROS_DIR)/../mros_msg-gen/mros_msg-gen.py $(MSG_SETTING_JSON)
 	echo "message generated"
 endif
-endif

workspace/msg_app/Makefile → mros_ws/custom_pubsub/Makefile

@@ -7,8 +7,8 @@ all:
 #
 #  アプリケーションファイル
 #
-APPNAME = msg_app
-APPLDIR = msg_app 
+APPNAME = custom_pubsub
+APPLDIR = custom_pubsub
 APPLNAME = app
 USE_CXX = true
 APPL_CFG = $(APPLNAME).cfg

workspace/msg_app/app.cpp → mros_ws/custom_pubsub/app.cpp

@@ -7,7 +7,7 @@
 #include "mbed.h"
 #include "EthernetInterface.h"
 #include "SoftPWM.h"
-#include "mros_test/UserTypeTest.h"
+#include "custom_pubsub/UserTypeTest.h"
 
 //pin assign
 static DigitalOut ledu(P6_12);                                  // LED-User
@@ -50,7 +50,7 @@ void init(void){
 }
 
 /*****mROS user task code*******/
-static mros_test::UserTypeTest pubMsg;
+static custom_pubsub::UserTypeTest pubMsg;
 void usr_task1(){
 #ifndef _USR_TASK_1_
 #define _USR_TASK_1_
@@ -61,7 +61,7 @@ void usr_task1(){
   ros::init(argc,argv,"mros_node");
   ros::NodeHandle n;
   //ros::Publisher chatter_pub = n.advertise<std_msgs::String>("mros_msg",1);
-  ros::Publisher chatter_pub = n.advertise<mros_test::UserTypeTest>("mros_msg",1);
+  ros::Publisher chatter_pub = n.advertise<custom_pubsub::UserTypeTest>("mros_msg",1);
   ros::Rate loop_rate(5);
   pubMsg.nameVal.firstName="Charlie";
   pubMsg.nameVal.lastName="Parker";
@@ -118,7 +118,7 @@ void LED_switch(string *msg){
 }
 */
 /*******  callback **********/
-void Callback(mros_test::UserTypeTest *msg){	
+void Callback(custom_pubsub::UserTypeTest *msg){	
   //LED_switch(msg);
   ROS_INFO("I hear msgs from ros host");
   string name = msg->nameVal.firstName + " " + msg->nameVal.lastName;

workspace/msg_app/include/mros_test/LEDValues.h → mros_ws/custom_pubsub/include/custom_pubsub/LEDValues.h

@@ -1,12 +1,12 @@
-#ifndef _MROS_TEST_LEDVALUES_H
-#define _MROS_TEST_LEDVALUES_H
+#ifndef _CUSTOM_PUBSUB_LEDVALUES_H
+#define _CUSTOM_PUBSUB_LEDVALUES_H
 
 
 
 
 static const int LEDVALUES_MSG_ID = 101;
 
-namespace mros_test{
+namespace custom_pubsub{
 class LEDValues{
 public:
   float red;
@@ -61,17 +61,17 @@ struct MD5Sum<LEDVALUES_MSG_ID>
 };
 
 template<>
-struct DataType<mros_test::LEDValues*>
+struct DataType<custom_pubsub::LEDValues*>
 {
   static const char* value()
   {
-    return "mros_test/LEDValues";
+    return "custom_pubsub/LEDValues";
   }
 
 };
 
 template<>
-struct DataTypeId<mros_test::LEDValues*>
+struct DataTypeId<custom_pubsub::LEDValues*>
 {
   static const int value()
   {
@@ -81,7 +81,7 @@ struct DataTypeId<mros_test::LEDValues*>
 };
 
 template<>
-struct Definition<mros_test::LEDValues*>
+struct Definition<custom_pubsub::LEDValues*>
 {
 	static const char* value()
 	{
@@ -99,7 +99,7 @@ namespace subtask_methods
   struct CallCallbackFuncs<LEDVALUES_MSG_ID>{
     static void call(void (*fp)(intptr_t), char *rbuf)
     {
-      mros_test::LEDValues msg;
+      custom_pubsub::LEDValues msg;
       rbuf += 4;
       msg.deserialize(rbuf);
       fp(&msg);

workspace/msg_app/include/mros_test/PersonName.h → mros_ws/custom_pubsub/include/custom_pubsub/PersonName.h

@@ -1,12 +1,12 @@
-#ifndef _MROS_TEST_PERSONNAME_H
-#define _MROS_TEST_PERSONNAME_H
+#ifndef _CUSTOM_PUBSUB_PERSONNAME_H
+#define _CUSTOM_PUBSUB_PERSONNAME_H
 
 
 
 
 static const int PERSONNAME_MSG_ID = 102;
 
-namespace mros_test{
+namespace custom_pubsub{
 class PersonName{
 public:
   string firstName;
@@ -74,17 +74,17 @@ struct MD5Sum<PERSONNAME_MSG_ID>
 };
 
 template<>
-struct DataType<mros_test::PersonName*>
+struct DataType<custom_pubsub::PersonName*>
 {
   static const char* value()
   {
-    return "mros_test/PersonName";
+    return "custom_pubsub/PersonName";
   }
 
 };
 
 template<>
-struct DataTypeId<mros_test::PersonName*>
+struct DataTypeId<custom_pubsub::PersonName*>
 {
   static const int value()
   {
@@ -94,7 +94,7 @@ struct DataTypeId<mros_test::PersonName*>
 };
 
 template<>
-struct Definition<mros_test::PersonName*>
+struct Definition<custom_pubsub::PersonName*>
 {
 	static const char* value()
 	{
@@ -111,7 +111,7 @@ namespace subtask_methods
   struct CallCallbackFuncs<PERSONNAME_MSG_ID>{
     static void call(void (*fp)(intptr_t), char *rbuf)
     {
-      mros_test::PersonName msg;
+      custom_pubsub::PersonName msg;
       rbuf += 4;
       msg.deserialize(rbuf);
       fp(&msg);

workspace/msg_app/include/mros_test/UserTypeTest.h → mros_ws/custom_pubsub/include/custom_pubsub/UserTypeTest.h

@@ -1,18 +1,18 @@
-#ifndef _MROS_TEST_USERTYPETEST_H
-#define _MROS_TEST_USERTYPETEST_H
+#ifndef _CUSTOM_PUBSUB_USERTYPETEST_H
+#define _CUSTOM_PUBSUB_USERTYPETEST_H
 
-#include "mros_test/LEDValues.h"
-#include "mros_test/PersonName.h"
+#include "custom_pubsub/LEDValues.h"
+#include "custom_pubsub/PersonName.h"
 
 
 
 static const int USERTYPETEST_MSG_ID = 103;
 
-namespace mros_test{
+namespace custom_pubsub{
 class UserTypeTest{
 public:
-  mros_test::LEDValues ledVal;
-  mros_test::PersonName nameVal;
+  custom_pubsub::LEDValues ledVal;
+  custom_pubsub::PersonName nameVal;
 
   int dataSize(){
     return  ledVal.dataSize() +  nameVal.dataSize() +  4*2;
@@ -54,17 +54,17 @@ struct MD5Sum<USERTYPETEST_MSG_ID>
 };
 
 template<>
-struct DataType<mros_test::UserTypeTest*>
+struct DataType<custom_pubsub::UserTypeTest*>
 {
   static const char* value()
   {
-    return "mros_test/UserTypeTest";
+    return "custom_pubsub/UserTypeTest";
   }
 
 };
 
 template<>
-struct DataTypeId<mros_test::UserTypeTest*>
+struct DataTypeId<custom_pubsub::UserTypeTest*>
 {
   static const int value()
   {
@@ -74,7 +74,7 @@ struct DataTypeId<mros_test::UserTypeTest*>
 };
 
 template<>
-struct Definition<mros_test::UserTypeTest*>
+struct Definition<custom_pubsub::UserTypeTest*>
 {
 	static const char* value()
 	{
@@ -91,7 +91,7 @@ namespace subtask_methods
   struct CallCallbackFuncs<USERTYPETEST_MSG_ID>{
     static void call(void (*fp)(intptr_t), char *rbuf)
     {
-      mros_test::UserTypeTest msg;
+      custom_pubsub::UserTypeTest msg;
       rbuf += 4;
       msg.deserialize(rbuf);
       fp(&msg);

mros_ws/custom_pubsub/include/message_class_specialization.h

@@ -0,0 +1,10 @@
+#include "ros.h"
+
+
+#include "custom_pubsub/UserTypeTest.h"
+
+
+
+template ros::Subscriber ros::NodeHandle::subscribe(std::string,int,void (*fp)(custom_pubsub::UserTypeTest*));
+template ros::Publisher ros::NodeHandle::advertise<custom_pubsub::UserTypeTest>(string, int);
+template void ros::Publisher::publish(custom_pubsub::UserTypeTest&);

workspace/msg_app/include/message_headers.h → mros_ws/custom_pubsub/include/message_headers.h

@@ -1,6 +1,6 @@
 
 
-#include "mros_test/UserTypeTest.h"
+#include "custom_pubsub/UserTypeTest.h"
 
 
 void callCallback(int id, void (*fp)(intptr_t), char *rbuf){

workspace/msg_app/msg_app.json → mros_ws/custom_pubsub/msg_app.json

@@ -1,12 +1,12 @@
 {
-	"catkin_ws_dir": "../../../catkin_ws/",
+	"catkin_ws_dir": "../../ros_catkin_ws/",
 	"ros_include_dir": "/opt/ros/kinetic/include",
 	"including_msgs": [
-		"mros_test/UserTypeTest.h"
+		"custom_pubsub/UserTypeTest.h"
 	],
 	"depending_packages": [
 		"std_msgs",
-		"mros_test"
+		"custom_pubsub"
 	],
 	"depending_build_in_packages": [
 	]

workspace/camera_app/Makefile → mros_ws/image_publisher/Makefile

@@ -7,12 +7,12 @@ all:
 #
 #  アプリケーションファイル
 #
-APPNAME = camera_app
-APPLDIR = camera_app
+APPNAME = image_publisher
+APPLDIR = image_publisher
 APPLNAME = app
 USE_CXX = true
 APPL_CFG = $(APPLNAME).cfg
-USE_TRUESTUDIO = false
+USE_TRUESTUDIO = true
 GEN_MSG = true
 MSG_SETTING_JSON = camera_app.json
 PYTHON = /usr/bin/python

workspace/camera_app/camera_app.json → mros_ws/image_publisher/camera_app.json

@@ -1,5 +1,5 @@
 {
-	"catkin_ws_dir": "../../../catkin_ws/",
+	"catkin_ws_dir": "../../ros_catkin_ws/",
 	"ros_include_dir": "/opt/ros/kinetic/include",
 	"including_msgs": [
 		"sensor_msgs/Image.h"

workspace/app/Makefile → mros_ws/string_pubsub/Makefile

@@ -7,8 +7,8 @@ all:
 #
 #  アプリケーションファイル
 #
-APPNAME = app
-APPLDIR = app
+APPNAME = string_pubsub
+APPLDIR = string_pubsub
 APPLNAME = app
 USE_CXX = true
 APPL_CFG = $(APPLNAME).cfg

workspace/app/app.json → mros_ws/string_pubsub/app.json

@@ -1,5 +1,5 @@
 {
-	"catkin_ws_dir": "../../../catkin_ws/",
+	"catkin_ws_dir": "../../ros_catkin_ws/",
 	"ros_include_dir": "/opt/ros/kinetic/include",
 	"including_msgs": [
 		"std_msgs/String.h"