MinSubscriber 优化

- 继承自 MinHandler
- 配置参数化
- 尝试使用launnch 文件

Signed-off-by: a1012112796 <1012112796@qq.com>

src/test_topic/CMakeLists.txt

@@ -150,7 +150,7 @@ include_directories( include ${catkin_INCLUDE_DIRS})
 add_executable(talker src/minPublisher.cpp src/WzSerialportPlus.cpp)
 target_link_libraries(talker ${catkin_LIBRARIES})
 
-add_executable(listener src/minSubscriber.cpp src/WzSerialportPlus.cpp)
+add_executable(listener src/minSubscriber.cpp src/WzSerialportPlus.cpp src/minHandler.cpp)
 target_link_libraries(listener ${catkin_LIBRARIES})
 
 add_executable(time_tacker src/timerPublisher.cpp)

src/test_topic/include/test_topic/minHandler.h

@@ -1,28 +1,147 @@
 #ifndef __MIN_HANDLER_H__
 #define __MIN_HANDLER_H__
 
+/**
+ * @file minHandler.h
+ *
+ * @brief  ros 最小节点抽象模型, 使用方法参见 `testMinHandler`
+ *
+ * @date 2021-09-14
+ * 
+ * @version 0.1.0-dev
+ *
+ */
+
 #include <ros/ros.h>
 #include <std_msgs/String.h>
 #include <std_srvs/Empty.h>
 #include <vector>
 #include <thread>
 
+namespace xyfc_std
+{
+
 using MsgType = std_msgs::String;
 using ThreadFuncType = boost::function<void (void)>;
 
+/**
+ * @brief ros 节点最小抽象
+ * 
+ * 提供ros nod 初始化的基本逻辑， 以便于快捷地创建节点及后期移植 ros2
+ * 
+ * Usage:
+ * 
+ * ```CXX
+ * using namespace xyfc_std;
+ * 
+ * class MyNode : public MinHandler 
+ * {
+ *  public:
+ *      MyNode(int argc, char **argv, char *node_name):
+ *      {
+ *          //.....
+ *      }
+ * }
+ *
+ *
+ * int main(int argc, char **argv)
+ * {
+ *     MyNode nh(argc, argv, "test_nde");
+ *     nh.run(4);
+ * }
+ * ```
+ *
+ */
 class MinHandler {
 public:
+    /**
+     * @brief 构造函数
+     * 
+     * @param argc main 函数参数
+     * @param argv  main 函数参数
+     * @param node_name node 名称， 必须唯一， 推荐使用 ros param
+     */
     MinHandler(int argc, char **argv, const char *node_name);
     virtual ~MinHandler();
+    /**
+     * @brief 启动 ros 逻辑
+     * 
+     * @param thread_num 线程数
+     *      - thread_num  <= 0， 不使用多线程 spin 逻辑， 此时
+     *        loop_handle() 函数有效。
+     *      - thread_num > 0 使用多线程 spin 逻辑, thread_num
+     *      - 为 1时, 表示使用默认值 (cpu 核数)
+     */
     void run(int thread_num);
+    /**
+     * @brief 主动停止当前 node节点
+     *
+     */
     void shutdown(void);
-    void init_shutdown_service(void);
 protected:
-   virtual void node_init(void);
+    /**
-   virtual void loop_handle(void);
+     * @brief 节点初始化后回调函数
-   void add_thread(ThreadFuncType &pth, int thread_num = 1);
+     * 
-   bool ok(void);
+     * 此时 `_node` 节点已完成初始化，
-   ros::NodeHandle *_node;
+     * 可以在此函数中初始化 topic publisher/ subscriber ...
+     * 
+     * @return true 初始化成功
+     * @return false 初始化失败， 程序将立即终止
+     * 
+     */
+    virtual bool node_init(void);
+    /**
+     * @brief 周期回调函数
+     * 
+     * 仅当 tread_nums < 0 时，
+     * 会在 run() 中周期性执行
+     *
+     */
+    virtual void loop_handle(void);
+    /**
+     * @brief 添加线程
+     * 
+     * @param pth tread 函数`对象`, 无参数， 无返回值
+     *          可以使用lambda 表达， 普通函数, boost::bind(...)
+     *
+     *
+     * @param thread_num 线程数， 默认为 1
+     *
+     * @warning 为确保程序可以`优雅`的退出， 在线程函数中
+     *          必须周期调用 ok() 函数, 当返回值为 false时
+     *          应该立即退出当前线程例如:
+     * 
+     * ```CXX
+     *      void thread_entry(self *MinHandler)
+     *      {
+     *          // init ...
+     *          while(self->ok())
+     *          {
+     *              // do something ...
+     *          }
+     *
+     *          // exit
+     *      }
+     * ```
+     */
+    void add_thread(ThreadFuncType &pth, int thread_num = 1);
+    /**
+     * @brief 当前 node 是否还在运行
+     *
+     */
+    bool ok(void);
+    /**
+     * @brief node handle, 用于创建 topic publisher/ subscriber ...
+     *
+     */
+    ros::NodeHandle *_node;
+    /**
+     * @brief Get the node name object
+     * 
+     * @return const char* _node_name
+     */
+    const char *get_node_name();
+
 private:
     int _argc;
     char **_argv;
@@ -32,4 +151,6 @@ private:
     ros::AsyncSpinner *_spinner;
 };
 
+} // namespace xyfc_std
+
 #endif

src/test_topic/include/test_topic/minSubscriber.h

@@ -3,15 +3,17 @@
 
 #include <ros/ros.h>
 #include <std_msgs/String.h>
-#include <queue>
 #include "test_topic/WzSerialportPlus.h"
+#include "test_topic/minHandler.h"
 
-using MsgType = std_msgs::String;
+using namespace xyfc_std;
-class MinSubscriber: ros::NodeHandle {
+
+class MinSubscriber: public MinHandler {
 public:
-    MinSubscriber();
+    MinSubscriber(int argc, char **argv);
     ~MinSubscriber();
-    void run(const char *device);
+protected:
+    virtual bool node_init(void);
 private:
     ros::Subscriber _sub;
     WzSerialportPlus _serial;

src/test_topic/launch/test1.launch

@@ -0,0 +1,6 @@
+<launch>
+    <arg name="port" default="/dev/ttyUSB0" />
+    <node pkg="test_topic" type="listener" name="serial_listen">
+      <param name="port" value="$(arg port)" />
+    </node>
+  </launch>

src/test_topic/src/minHandler.cpp

@@ -1,5 +1,8 @@
 #include "test_topic/minHandler.h"
 
+namespace xyfc_std
+{
+
 MinHandler::MinHandler(int argc, char **argv, const char *node_name)
 {
     _argc = argc;
@@ -20,9 +23,9 @@ MinHandler::~MinHandler()
 {
 }
 
-void MinHandler::node_init()
+bool MinHandler::node_init()
 {
-
+    return true;
 }
 
 void MinHandler::loop_handle()
@@ -43,6 +46,11 @@ bool MinHandler::ok(void)
     return !_shutdown;
 }
 
+const char *MinHandler::get_node_name()
+{
+    return _node_name;
+}
+
 void MinHandler::run(int thread_num)
 {
     if (_node != nullptr)
@@ -53,7 +61,12 @@ void MinHandler::run(int thread_num)
     ROS_INFO("init '%s' node", _node_name);
     ros::init(_argc, _argv, _node_name);
     _node = new ros::NodeHandle;
-    node_init();
+
+    if (!node_init())
+    {
+        free(_node);
+        return;
+    }
 
     if (thread_num <= 0)
     {
@@ -110,3 +123,5 @@ void MinHandler::shutdown(void)
 
     ros::shutdown();
 }
+
+} // namespace xyfc_std

src/test_topic/src/minSubscriber.cpp

@@ -1,8 +1,28 @@
 #include "test_topic/minSubscriber.h"
 
-MinSubscriber::MinSubscriber()
+MinSubscriber::MinSubscriber(int argc, char **argv):
+    MinHandler(argc, argv, "serial_sender")
 {
-    _sub = this->subscribe<MsgType>("test_topic", 200, boost::bind(&MinSubscriber::callback, this, _1));
+}
+
+bool MinSubscriber::node_init(void)
+{
+    std::string port, topic;
+    int baud = 115200;
+    ros::param::param<std::string>("~port", port, "/dev/ttyACM0");
+    ros::param::param<int>("~baud", baud, 57600);
+    ros::param::param<std::string>("~topic", topic, "test_topic");
+
+    ROS_INFO("will listen '%s' tiopic", topic.c_str());
+    _sub = _node->subscribe<MsgType>(topic, 200, boost::bind(&MinSubscriber::callback, this, _1));
+
+    if (!_serial.open(port, baud, 1, 8, 'N'))
+    {
+        ROS_ERROR("open serial '%s' failed!", port.c_str());
+        return false;
+    }
+
+    return true;
 }
 
 MinSubscriber::~MinSubscriber()
@@ -16,18 +36,11 @@ void MinSubscriber::callback(const boost::shared_ptr<MsgType const> &msg)
     _serial.send(msg->data.c_str(), strlen(msg->data.c_str()));
 }
 
-void MinSubscriber::run(const char *device)
-{
-    _serial.open(device, 115200, 1, 8, 'N');
-    ros::spin();
-}
-
 int main(int argc, char *argv[])
 {
-    ros::init(argc, argv, "test_sub_node");
+    MinSubscriber *nh = new MinSubscriber(argc, argv);
-    MinSubscriber nh;
+    nh->run(4);
-
+    free(nh);
-    nh.run("/dev/ttyUSB1");
 
     return 0;
 }

src/test_topic/src/testMinHandler.cpp

@@ -1,5 +1,7 @@
 #include "test_topic/minHandler.h"
 
+using namespace xyfc_std;
+
 class testMinHandler: public MinHandler
 {
 private:
@@ -10,7 +12,7 @@ public:
     testMinHandler(int argc, char **argv);
     ~testMinHandler();
 protected:
-    virtual void node_init();
+    virtual bool node_init();
 };
 
 void testMinHandler::callback(const boost::shared_ptr<MsgType const> &msg)
@@ -32,7 +34,7 @@ testMinHandler::testMinHandler(int argc, char **argv)
 
 }
 
-void testMinHandler::node_init()
+bool testMinHandler::node_init()
 {
     _pub = _node->advertise<MsgType>("test_topic_2", 200);
     _sub = _node->subscribe<MsgType>("test_topic", 200, &testMinHandler::callback, this);
@@ -46,6 +48,7 @@ void testMinHandler::node_init()
         printf("hello pass thread shutdown\n");
     };
     add_thread(fn);
+    return true;
 }
 
 testMinHandler::~testMinHandler()