Adding acoustic subsystem examples

lrauv_ignition_plugins/CMakeLists.txt

@@ -213,6 +213,8 @@ install(
 foreach(EXAMPLE
  example_buoyancy
  example_controller
+ example_comms_client
+ example_comms_echo
  example_elevator
  example_mass_shifter
  example_rudder
@@ -225,6 +227,7 @@ foreach(EXAMPLE
 
  add_executable(${EXAMPLE_EXEC} example/${EXAMPLE}.cc)
  set_property(TARGET ${EXAMPLE_EXEC} PROPERTY CXX_STANDARD 17)
+ target_include_directories(${EXAMPLE_EXEC} PUBLIC include)
  target_link_libraries(${EXAMPLE_EXEC} PRIVATE
  gz-sim${GZ_SIM_VER}::gz-sim${GZ_SIM_VER}
  dvl_velocity_tracking lrauv_acoustic_message lrauv_command lrauv_init

lrauv_ignition_plugins/example/example_comms_client.cc

@@ -0,0 +1,61 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+/*
+ * Development of this module has been funded by the Monterey Bay Aquarium
+ * Research Institute (MBARI) and the David and Lucile Packard Foundation
+ */
+
+/**
+ * This is a small example of usage of CommsClient to send and receive data
+ * packets using the acoustic subsystem. For more info:
+ * https:/osrf/lrauv/wiki/Examples-and-tutorials#using-commsclient
+ *
+ * Usage:
+ * $ ./LRAUV_example_comms_client
+ */
+
+#include <lrauv_ignition_plugins/comms/CommsClient.hh>
+
+using namespace tethys;
+using AcousticMsg = lrauv_ignition_plugins::msgs::LRAUVAcousticMessage;
+
+int main(int _argc, char **_argv)
+{
+
+ // For sending data
+ // Bind client to address 1
+ CommsClient client(1, [](const auto msg){
+ // Your callback function
+ // To get who the message is from
+ std::cout << "From: " << msg.from();
+ // To get the data call
+ std::cout << "Data: " << msg.data();
+ });
+
+ AcousticMsg msg;
+ // Who to send to
+ msg.set_to(2);
+ // From who
+ msg.set_from(1);
+ // `LRAUVAcousticMessage_MessageType_Other` means its a data packet
+ msg.set_type(AcousticMsg::MessageType::LRAUVAcousticMessage_MessageType_Other);
+ // The data
+ msg.set_data("test_message");
+ client.SendPacket(msg);
+
+}

lrauv_ignition_plugins/example/example_comms_echo.cc

@@ -0,0 +1,75 @@
+/*
+ * Copyright (C) 2021 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+ */
+
+/*
+ * Development of this module has been funded by the Monterey Bay Aquarium
+ * Research Institute (MBARI) and the David and Lucile Packard Foundation
+ */
+
+/**
+ * This is a small example of usage of gazebo transport to send and receive
+ * data packets using the acoustic subsystem. For more info:
+ * https:/osrf/lrauv/wiki/Examples-and-tutorials#direct-method
+ *
+ * Usage:
+ * $ ./LRAUV_example_comms_echo
+ */
+
+#include <unistd.h>
+#include <gz/transport/Node.hh>
+#include "lrauv_ignition_plugins/lrauv_acoustic_message.pb.h"
+
+int address = 1;
+gz::transport::Node node;
+gz::transport::Node::Publisher transmitter;
+using AcousticMsg = lrauv_ignition_plugins::msgs::LRAUVAcousticMessage;
+
+//////////////////////////////////////////////////
+/// \brief Function called each time a message is recieved by the comms subsystem.
+void cb(const lrauv_ignition_plugins::msgs::LRAUVAcousticMessage &_msg)
+{
+ std::cout << _msg.from() << ": " << _msg.data();
+
+ lrauv_ignition_plugins::msgs::LRAUVAcousticMessage returnMsg;
+ // Who to send to
+ returnMsg.set_to(_msg.from());
+
+ // From who
+ returnMsg.set_from(address);
+
+ // `LRAUVAcousticMessage_MessageType_Other` means its a data packet
+ returnMsg.set_type(AcousticMsg::MessageType::LRAUVAcousticMessage_MessageType_Other);
+
+ // The data
+ returnMsg.set_data(_msg.data());
+
+ // Send the data
+ transmitter.Publish(returnMsg);
+}
+
+int main(int argc, char** argv)
+{
+ transmitter = node.Advertise<lrauv_ignition_plugins::msgs::LRAUVAcousticMessage>(
+ "/comms/external/" + std::to_string(address) + "/tx");
+
+ node.Subscribe(
+ "/comms/external/" + std::to_string(address) + "/rx",
+ cb
+ );
+
+ while(true) { sleep(1); }
+}