Skip to content

Commit e474c08

Browse files
author
Roman Kuzmenko
committed
Changed license to Apache 2.0. Made it work as a dependency for other packages. Made it work with binary data.
1 parent 3ce6466 commit e474c08

10 files changed

+242
-25
lines changed

‎CMakeLists.txt

+9-8
Original file line numberDiff line numberDiff line change
@@ -24,11 +24,11 @@ rosidl_generate_interfaces(${PROJECT_NAME}
2424
rosidl_get_typesupport_target(cpp_typesupport_target
2525
${PROJECT_NAME} "rosidl_typesupport_cpp")
2626

27-
include_directories(
28-
include
29-
)
27+
include_directories(
28+
include
29+
)
3030

31-
set(project_SOURCE_FILES
31+
set(project_SOURCE_FILES
3232
src/node.cpp
3333
src/worker.cpp
3434
src/port.cpp
@@ -53,17 +53,18 @@ install(TARGETS
5353
add_library(${PROJECT_NAME}_native ${project_SOURCE_FILES})
5454
target_link_libraries(${PROJECT_NAME}_native ${rclcpp_LIBRARIES} "${cpp_typesupport_target}")
5555
ament_target_dependencies(${PROJECT_NAME}_native ${project_DEPENDENCIES})
56+
ament_export_targets(${PROJECT_NAME}_native_library HAS_LIBRARY_TARGET)
5657
ament_export_dependencies(rclcpp)
5758
ament_export_include_directories(include)
58-
install(TARGETS
59-
${PROJECT_NAME}_native
60-
DESTINATION lib/${PROJECT_NAME}
59+
install(TARGETS ${PROJECT_NAME}_native
60+
EXPORT ${PROJECT_NAME}_native_library
61+
DESTINATION lib
6162
)
6263
install(
6364
DIRECTORY include/${PROJECT_NAME}/
6465
DESTINATION include/${PROJECT_NAME}
6566
)
66-
# TODO(clairbee): ament_export_targets(export_serial HAS_LIBRARY_TARGET)
67+
6768

6869
# Testing
6970
if(BUILD_TESTING)

‎LICENSE.txt

+202
Original file line numberDiff line numberDiff line change
@@ -0,0 +1,202 @@
1+
2+
Apache License
3+
Version 2.0, January 2004
4+
http://www.apache.org/licenses/
5+
6+
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
7+
8+
1. Definitions.
9+
10+
"License" shall mean the terms and conditions for use, reproduction,
11+
and distribution as defined by Sections 1 through 9 of this document.
12+
13+
"Licensor" shall mean the copyright owner or entity authorized by
14+
the copyright owner that is granting the License.
15+
16+
"Legal Entity" shall mean the union of the acting entity and all
17+
other entities that control, are controlled by, or are under common
18+
control with that entity. For the purposes of this definition,
19+
"control" means (i) the power, direct or indirect, to cause the
20+
direction or management of such entity, whether by contract or
21+
otherwise, or (ii) ownership of fifty percent (50%) or more of the
22+
outstanding shares, or (iii) beneficial ownership of such entity.
23+
24+
"You" (or "Your") shall mean an individual or Legal Entity
25+
exercising permissions granted by this License.
26+
27+
"Source" form shall mean the preferred form for making modifications,
28+
including but not limited to software source code, documentation
29+
source, and configuration files.
30+
31+
"Object" form shall mean any form resulting from mechanical
32+
transformation or translation of a Source form, including but
33+
not limited to compiled object code, generated documentation,
34+
and conversions to other media types.
35+
36+
"Work" shall mean the work of authorship, whether in Source or
37+
Object form, made available under the License, as indicated by a
38+
copyright notice that is included in or attached to the work
39+
(an example is provided in the Appendix below).
40+
41+
"Derivative Works" shall mean any work, whether in Source or Object
42+
form, that is based on (or derived from) the Work and for which the
43+
editorial revisions, annotations, elaborations, or other modifications
44+
represent, as a whole, an original work of authorship. For the purposes
45+
of this License, Derivative Works shall not include works that remain
46+
separable from, or merely link (or bind by name) to the interfaces of,
47+
the Work and Derivative Works thereof.
48+
49+
"Contribution" shall mean any work of authorship, including
50+
the original version of the Work and any modifications or additions
51+
to that Work or Derivative Works thereof, that is intentionally
52+
submitted to Licensor for inclusion in the Work by the copyright owner
53+
or by an individual or Legal Entity authorized to submit on behalf of
54+
the copyright owner. For the purposes of this definition, "submitted"
55+
means any form of electronic, verbal, or written communication sent
56+
to the Licensor or its representatives, including but not limited to
57+
communication on electronic mailing lists, source code control systems,
58+
and issue tracking systems that are managed by, or on behalf of, the
59+
Licensor for the purpose of discussing and improving the Work, but
60+
excluding communication that is conspicuously marked or otherwise
61+
designated in writing by the copyright owner as "Not a Contribution."
62+
63+
"Contributor" shall mean Licensor and any individual or Legal Entity
64+
on behalf of whom a Contribution has been received by Licensor and
65+
subsequently incorporated within the Work.
66+
67+
2. Grant of Copyright License. Subject to the terms and conditions of
68+
this License, each Contributor hereby grants to You a perpetual,
69+
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
70+
copyright license to reproduce, prepare Derivative Works of,
71+
publicly display, publicly perform, sublicense, and distribute the
72+
Work and such Derivative Works in Source or Object form.
73+
74+
3. Grant of Patent License. Subject to the terms and conditions of
75+
this License, each Contributor hereby grants to You a perpetual,
76+
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
77+
(except as stated in this section) patent license to make, have made,
78+
use, offer to sell, sell, import, and otherwise transfer the Work,
79+
where such license applies only to those patent claims licensable
80+
by such Contributor that are necessarily infringed by their
81+
Contribution(s) alone or by combination of their Contribution(s)
82+
with the Work to which such Contribution(s) was submitted. If You
83+
institute patent litigation against any entity (including a
84+
cross-claim or counterclaim in a lawsuit) alleging that the Work
85+
or a Contribution incorporated within the Work constitutes direct
86+
or contributory patent infringement, then any patent licenses
87+
granted to You under this License for that Work shall terminate
88+
as of the date such litigation is filed.
89+
90+
4. Redistribution. You may reproduce and distribute copies of the
91+
Work or Derivative Works thereof in any medium, with or without
92+
modifications, and in Source or Object form, provided that You
93+
meet the following conditions:
94+
95+
(a) You must give any other recipients of the Work or
96+
Derivative Works a copy of this License; and
97+
98+
(b) You must cause any modified files to carry prominent notices
99+
stating that You changed the files; and
100+
101+
(c) You must retain, in the Source form of any Derivative Works
102+
that You distribute, all copyright, patent, trademark, and
103+
attribution notices from the Source form of the Work,
104+
excluding those notices that do not pertain to any part of
105+
the Derivative Works; and
106+
107+
(d) If the Work includes a "NOTICE" text file as part of its
108+
distribution, then any Derivative Works that You distribute must
109+
include a readable copy of the attribution notices contained
110+
within such NOTICE file, excluding those notices that do not
111+
pertain to any part of the Derivative Works, in at least one
112+
of the following places: within a NOTICE text file distributed
113+
as part of the Derivative Works; within the Source form or
114+
documentation, if provided along with the Derivative Works; or,
115+
within a display generated by the Derivative Works, if and
116+
wherever such third-party notices normally appear. The contents
117+
of the NOTICE file are for informational purposes only and
118+
do not modify the License. You may add Your own attribution
119+
notices within Derivative Works that You distribute, alongside
120+
or as an addendum to the NOTICE text from the Work, provided
121+
that such additional attribution notices cannot be construed
122+
as modifying the License.
123+
124+
You may add Your own copyright statement to Your modifications and
125+
may provide additional or different license terms and conditions
126+
for use, reproduction, or distribution of Your modifications, or
127+
for any such Derivative Works as a whole, provided Your use,
128+
reproduction, and distribution of the Work otherwise complies with
129+
the conditions stated in this License.
130+
131+
5. Submission of Contributions. Unless You explicitly state otherwise,
132+
any Contribution intentionally submitted for inclusion in the Work
133+
by You to the Licensor shall be under the terms and conditions of
134+
this License, without any additional terms or conditions.
135+
Notwithstanding the above, nothing herein shall supersede or modify
136+
the terms of any separate license agreement you may have executed
137+
with Licensor regarding such Contributions.
138+
139+
6. Trademarks. This License does not grant permission to use the trade
140+
names, trademarks, service marks, or product names of the Licensor,
141+
except as required for reasonable and customary use in describing the
142+
origin of the Work and reproducing the content of the NOTICE file.
143+
144+
7. Disclaimer of Warranty. Unless required by applicable law or
145+
agreed to in writing, Licensor provides the Work (and each
146+
Contributor provides its Contributions) on an "AS IS" BASIS,
147+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
148+
implied, including, without limitation, any warranties or conditions
149+
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
150+
PARTICULAR PURPOSE. You are solely responsible for determining the
151+
appropriateness of using or redistributing the Work and assume any
152+
risks associated with Your exercise of permissions under this License.
153+
154+
8. Limitation of Liability. In no event and under no legal theory,
155+
whether in tort (including negligence), contract, or otherwise,
156+
unless required by applicable law (such as deliberate and grossly
157+
negligent acts) or agreed to in writing, shall any Contributor be
158+
liable to You for damages, including any direct, indirect, special,
159+
incidental, or consequential damages of any character arising as a
160+
result of this License or out of the use or inability to use the
161+
Work (including but not limited to damages for loss of goodwill,
162+
work stoppage, computer failure or malfunction, or any and all
163+
other commercial damages or losses), even if such Contributor
164+
has been advised of the possibility of such damages.
165+
166+
9. Accepting Warranty or Additional Liability. While redistributing
167+
the Work or Derivative Works thereof, You may choose to offer,
168+
and charge a fee for, acceptance of support, warranty, indemnity,
169+
or other liability obligations and/or rights consistent with this
170+
License. However, in accepting such obligations, You may act only
171+
on Your own behalf and on Your sole responsibility, not on behalf
172+
of any other Contributor, and only if You agree to indemnify,
173+
defend, and hold each Contributor harmless for any liability
174+
incurred by, or claims asserted against, such Contributor by reason
175+
of your accepting any such warranty or additional liability.
176+
177+
END OF TERMS AND CONDITIONS
178+
179+
APPENDIX: How to apply the Apache License to your work.
180+
181+
To apply the Apache License to your work, attach the following
182+
boilerplate notice, with the fields enclosed by brackets "[]"
183+
replaced with your own identifying information. (Don't include
184+
the brackets!) The text should be enclosed in the appropriate
185+
comment syntax for the file format. We also recommend that a
186+
file or class name and description of purpose be included on the
187+
same "printed page" as the copyright notice for easier
188+
identification within third-party archives.
189+
190+
Copyright [yyyy] [name of copyright owner]
191+
192+
Licensed under the Apache License, Version 2.0 (the "License");
193+
you may not use this file except in compliance with the License.
194+
You may obtain a copy of the License at
195+
196+
http://www.apache.org/licenses/LICENSE-2.0
197+
198+
Unless required by applicable law or agreed to in writing, software
199+
distributed under the License is distributed on an "AS IS" BASIS,
200+
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
201+
See the License for the specific language governing permissions and
202+
limitations under the License.

‎README.md

+4-4
Original file line numberDiff line numberDiff line change
@@ -1,6 +1,8 @@
1-
# ROS2 serial
1+
# OpenVMP
22

3-
## Introduction
3+
[![Licence](license.svg)](https://opensource.org/licenses/Apache-2.0)
4+
5+
## ROS2 serial driver
46

57
This is an ultimate C++ implementation of serial port driver for ROS2.
68

@@ -14,8 +16,6 @@ ensuring maximum performance.
1416
It's a part of [the OpenVMP project](https://github.com/openvmp/openvmp).
1517
But it's designed to be universal and usable everywhere.
1618

17-
## User's guide
18-
1919
### Basic setup
2020

2121
Launch it as a separate node for each serial port:

‎include/serial/port.hpp

+1-1
Original file line numberDiff line numberDiff line change
@@ -31,7 +31,7 @@ class PortSettings {
3131
static const int BUFFER_SIZE_MAX = 1048576; // 1MB
3232
rclcpp::Parameter bs;
3333

34-
int setup();
34+
int setup(int old_fd);
3535
};
3636

3737
} // namespace serial

‎include/serial/utils.hpp

+4-3
Original file line numberDiff line numberDiff line change
@@ -22,10 +22,11 @@ namespace utils {
2222
static inline std::string bin2hex(const std::string &bin) {
2323
std::stringstream ss;
2424

25-
ss << std::hex << std::setfill('0') << std::setw(2);
25+
ss << std::hex;
2626

27-
for (const auto &item : bin) {
28-
ss << int(item) << " ";
27+
for (size_t i = 0; i < bin.size(); i++) {
28+
ss << std::setfill('0') << std::setw(2) << (int)(uint8_t)((int)bin[i])
29+
<< " ";
2930
}
3031
return ss.str();
3132
}

‎license.svg

+1
Loading

‎package.xml

+1-1
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@
55
<version>0.0.1</version>
66
<description>Configure and communicate with serial ports on Linux.</description>
77
<maintainer email="[email protected]">Roman Kuzmenko</maintainer>
8-
<license>Hippocratic License HL3-BDS-BOD-CL-ECO-FFD-MEDIA-MIL-SOC-SUP-SV</license>
8+
<license>Apache License 2.0</license>
99

1010
<buildtool_depend>ament_cmake</buildtool_depend>
1111
<depend>rclcpp</depend>

‎src/node.cpp

+2-2
Original file line numberDiff line numberDiff line change
@@ -33,10 +33,10 @@ void Node::init_parameters_() {
3333
this->declare_parameter("dev_name", "/dev/ttyS0");
3434
this->declare_parameter("skip_init", false);
3535
this->declare_parameter("baud_rate", 115200);
36-
this->declare_parameter("data", 1);
36+
this->declare_parameter("data", 8);
3737
this->declare_parameter("parity", false);
3838
this->declare_parameter("stop", 1);
39-
this->declare_parameter("flow_control", false);
39+
this->declare_parameter("flow_control", true);
4040
this->declare_parameter("bs", 1024);
4141
this->get_parameter("dev_name", port_settings_->dev_name);
4242
this->get_parameter("skip_init", port_settings_->skip_init);

‎src/port.cpp

+14-3
Original file line numberDiff line numberDiff line change
@@ -22,7 +22,11 @@
2222

2323
namespace serial {
2424

25-
int PortSettings::setup() {
25+
int PortSettings::setup(int old_fd) {
26+
if (old_fd != -1) {
27+
close(old_fd);
28+
}
29+
2630
int fd = ::open(dev_name.as_string().data(), O_RDWR);
2731
if (fd < 0) {
2832
throw std::invalid_argument("failed to open the device");
@@ -138,21 +142,28 @@ int PortSettings::setup() {
138142

139143
// Flow control
140144
if (flow_control.as_bool()) {
141-
tty.c_cflag |= CRTSCTS;
145+
tty.c_cflag |= CRTSCTS; // Turn on h/w flow control
146+
tty.c_iflag |= (IXON | IXOFF | IXANY); // Turn on s/w flow ctrl
142147
} else {
143148
tty.c_cflag &= ~CRTSCTS;
149+
tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
144150
}
145151

146152
tty.c_cflag |= CREAD | CLOCAL;
147-
tty.c_iflag &= ~(IXON | IXOFF | IXANY); // Turn off s/w flow ctrl
148153
tty.c_iflag &= ~(IGNBRK | BRKINT | PARMRK | ISTRIP | INLCR | IGNCR | ICRNL);
149154
// Setting both to 0 will give a non-blocking read
150155
tty.c_cc[VTIME] = 0;
151156
tty.c_cc[VMIN] = 0;
152157
tty.c_lflag &= ~ICANON; // Turn off canonical input
153158
tty.c_lflag &= ~(ECHO); // Turn off echo
159+
tty.c_lflag &= ~ECHOE; // Disable erasure
160+
tty.c_lflag &= ~ECHONL; // Disable new-line echo
154161
tty.c_lflag &= ~ISIG; // Disables recognition of INTR (interrupt), QUIT and
155162
// SUSP (suspend) characters
163+
tty.c_oflag &= ~OPOST; // Prevent special interpretation of output bytes
164+
// (e.g. newline chars)
165+
tty.c_oflag &=
166+
~ONLCR; // Prevent conversion of newline to carriage return/line feed
156167

157168
// Set the terminal attributes
158169
::tcflush(fd, TCIFLUSH);

‎src/worker.cpp

+4-3
Original file line numberDiff line numberDiff line change
@@ -29,7 +29,7 @@ Worker::Worker(std::shared_ptr<InterfaceRos> intf_ros,
2929
do_stop_(false),
3030
input_cb_{nullptr},
3131
input_cb_user_data_{nullptr} {
32-
fd_ = settings->setup();
32+
fd_ = settings->setup(fd_);
3333
if (fd_ < 0) {
3434
throw std::invalid_argument("failed to conigure the port");
3535
}
@@ -55,7 +55,7 @@ Worker::Worker(std::shared_ptr<InterfaceRos> intf_ros,
5555

5656
thread_ = std::shared_ptr<std::thread>(new std::thread(&Worker::run_, this));
5757

58-
RCLCPP_INFO(this->get_logger_(), "Serial node initialization complete for %s",
58+
RCLCPP_INFO(this->get_logger_(), "Worker initialization complete for %s",
5959
settings_->dev_name.as_string().c_str());
6060
}
6161

@@ -230,7 +230,8 @@ void Worker::run_() {
230230
}
231231
input_cb_mutex_.unlock();
232232

233-
RCLCPP_INFO(get_logger_(), "Publishing: '%s'", message.data.c_str());
233+
RCLCPP_INFO(get_logger_(), "Publishing received: '%s'",
234+
utils::bin2hex(message.data).c_str());
234235
intf_ros_->inspect_input->publish(message);
235236
}
236237
}

0 commit comments

Comments
 (0)