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Erwan Le Huitouze
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Add heater ros msg & srv
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‎CMakeLists.txt

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cmake_minimum_required(VERSION 2.8.3)
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project(heater_msgs)
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## Find catkin macros and libraries
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## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
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## is used, also find other catkin packages
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find_package(catkin REQUIRED COMPONENTS message_generation std_msgs sensor_msgs)
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## System dependencies are found with CMake's conventions
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# find_package(Boost REQUIRED COMPONENTS system)
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## Uncomment this if the package has a setup.py. This macro ensures
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## modules and global scripts declared therein get installed
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## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
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#catkin_python_setup()
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#######################################
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## Declare ROS messages and services ##
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#######################################
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## Generate messages in the 'msg' folder
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add_message_files(
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DIRECTORY
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msg
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FILES
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HeatingTemperatureSlot.msg
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HeatingPilotAction.msg
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HeatingPilotStateData.msg
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HeatingStateData.msg
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LogHeatingStateData.msg
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SensorTemperatureStateData.msg
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)
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## Generate services in the 'srv' folder
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add_service_files(
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DIRECTORY
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srv
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FILES
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HeatingAddTimeSlot.srv
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HeatingGetTimeSlots.srv
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HeatingRemoveTimeSlot.srv
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HeatingRemoveTimeSlots.srv
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HeatingUpdatePid.srv
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)
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## Generate added messages and services with any dependencies listed here
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generate_messages(
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DEPENDENCIES
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std_msgs
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sensor_msgs
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)
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###################################
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## catkin specific configuration ##
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###################################
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## The catkin_package macro generates cmake config files for your package
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## Declare things to be passed to dependent projects
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## INCLUDE_DIRS: uncomment this if you package contains header files
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## LIBRARIES: libraries you create in this project that dependent projects also need
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## CATKIN_DEPENDS: catkin_packages dependent projects also need
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## DEPENDS: system dependencies of this project that dependent projects also need
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catkin_package(
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# INCLUDE_DIRS include
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# LIBRARIES media_msgs
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CATKIN_DEPENDS message_runtime std_msgs sensor_msgs
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# roscpp rospy std_msgs
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# DEPENDS system_lib
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)
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###########
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## Build ##
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###########
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## Specify additional locations of header files
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## Your package locations should be listed before other locations
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# include_directories(include)
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include_directories(
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${catkin_INCLUDE_DIRS}
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)
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## Declare a cpp library
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# add_library(media_msgs
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# src/${PROJECT_NAME}/media_msgs.cpp
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# )
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## Declare a cpp executable
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# add_executable(media_msgs_node src/media_msgs_node.cpp)
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## Add cmake target dependencies of the executable/library
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## as an example, message headers may need to be generated before nodes
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#add_dependencies(media_msgs_node media_msgs_generate_messages_cpp)
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## Specify libraries to link a library or executable target against
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# target_link_libraries(media_msgs_node
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# ${catkin_LIBRARIES}
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# )
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#############
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## Install ##
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#############
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# all install targets should use catkin DESTINATION variables
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# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
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## Mark executable scripts (Python etc.) for installation
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## in contrast to setup.py, you can choose the destination
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#install(PROGRAMS
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# scripts/my_python_script
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# DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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#)
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## Mark executables and/or libraries for installation
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# install(TARGETS media_msgs media_msgs_node
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# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
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# RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
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# )
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## Mark cpp header files for installation
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# install(DIRECTORY include/${PROJECT_NAME}/
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# DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
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# FILES_MATCHING PATTERN "*.h"
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# PATTERN ".svn" EXCLUDE
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# )
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## Mark other files for installation (e.g. launch and bag files, etc.)
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# install(FILES
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# # myfile1
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# # myfile2
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# DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
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# )
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#############
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## Testing ##
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#############
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## Add gtest based cpp test target and link libraries
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# catkin_add_gtest(${PROJECT_NAME}-test test/test_media_msgs.cpp)
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# if(TARGET ${PROJECT_NAME}-test)
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# target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
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# endif()
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## Add folders to be run by python nosetests
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# catkin_add_nosetests(test)

‎__init__.py

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‎msg/HeatingPilotAction.msg

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## State data heating message
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## Common state of heating
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Header header
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# Pilot 0 : stop, 1 : comfort, 2 : comfort -1 C, 2 : comfort -2 C, 3 : eco, 4 : frost protection
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uint32 value
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# Pilot values constants
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uint32 STOP=0
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uint32 START=1
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uint32 COMFORT1=2
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uint32 COMFORT2=3
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uint32 ECO=4
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uint32 FROSTPROTECTION=5

‎msg/HeatingPilotStateData.msg

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## State data heating message
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## Common state of heating
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Header header
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# Pilot 0 : stop, 1 : comfort, 2 : comfort -1 C, 2 : comfort -2 C, 3 : eco, 4 : frost protection
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uint32 state
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# Pilot constants
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uint32 STOP=0
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uint32 START=1
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uint32 COMFORT1=2
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uint32 COMFORT2=3
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uint32 ECO=4
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uint32 FROSTPROTECTION=5

‎msg/HeatingStateData.msg

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## State data heating message
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## Common state of heating
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Header header
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# PID
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float64 proportional
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float64 integral
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float64 derivative
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# Goal
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sensor_msgs/Temperature temperatureReal
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sensor_msgs/Temperature temperatureGoal
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HeatingTemperatureSlot timeSlotCurrent
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# States
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bool heaterState
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bool sensorState

‎msg/HeatingTemperatureSlot.msg

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## State data heating message
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## Common state of heating
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Header header
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string dateBegin # format: yy-MM-dd'T'HH:mm:ss
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string dateEnd # format: yy-MM-dd'T'HH:mm:ss
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sensor_msgs/Temperature temperature
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uint32 priority # a higher value has the priority
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float32 frequency # 0 = no frequency, use specific dateBegin, dateEnd
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string frequencyUnit

‎msg/LogHeatingStateData.msg

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## State data temperature sensor message
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## Common state of temperature sensor
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Header header
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string date
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HeatingStateData statedata

‎msg/SensorTemperatureStateData.msg

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## State data temperature sensor message
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## Common state of temperature sensor
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Header header
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# Temperatures
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sensor_msgs/Temperature temperatureAmbiant
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sensor_msgs/Temperature temperatureObject
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# State 0: Unknown, 1: Init, 2: Enable, 3: Shutdown
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uint32 state
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# State constants
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uint32 UNKNOWN=0
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uint32 INIT=1
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uint32 ENABLE=2
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uint32 SHUTDOWN=3

‎package.xml

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<?xml version="1.0"?>
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<package>
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<name>heater_msgs</name>
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<version>0.1.8</version>
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<description>This package is Home messages for Ros.</description>
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<maintainer email="[email protected]">Mickaël Gaillard</maintainer>
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<maintainer email="[email protected]">Erwan Le Huitouze</maintainer>
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<license>GPLv3</license>
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<url type="website">https://support.tactfactory.com/projects/medialfred/wiki/Wiki</url>
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<author email="[email protected]">Erwan Le Huitouze</author>
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<!-- The *_depend tags are used to specify dependencies -->
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<!-- Dependencies can be catkin packages or system dependencies -->
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<!-- Examples: -->
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<!-- Use build_depend for packages you need at compile time: -->
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<!-- <build_depend>message_generation</build_depend> -->
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<!-- Use buildtool_depend for build tool packages: -->
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<!-- <buildtool_depend>catkin</buildtool_depend> -->
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<!-- Use run_depend for packages you need at runtime: -->
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<!-- <run_depend>message_runtime</run_depend> -->
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<!-- Use test_depend for packages you need only for testing: -->
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<!-- <test_depend>gtest</test_depend> -->
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<buildtool_depend>catkin</buildtool_depend>
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<build_depend>message_generation</build_depend>
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<build_depend>std_msgs</build_depend>
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<build_depend>sensor_msgs</build_depend>
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<run_depend>message_runtime</run_depend>
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<run_depend>std_msgs</run_depend>
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<run_depend>sensor_msgs</run_depend>
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<!-- The export tag contains other, unspecified, tags -->
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<export>
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<!-- You can specify that this package is a metapackage here: -->
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<!-- <metapackage/> -->
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<!-- Other tools can request additional information be placed here -->
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</export>
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</package>

‎setup.py

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## ! DO NOT MANUALLY INVOKE THIS setup.py, USE CATKIN INSTEAD
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from distutils.core import setup
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from catkin_pkg.python_setup import generate_distutils_setup
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# fetch values from package.xml
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setup_args = generate_distutils_setup(
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packages=['media_msgs'],
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package_dir={'': 'script'},
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requires=['std_msgs', 'rospy'])
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setup(**setup_args)

‎srv/HeatingAddTimeSlot.srv

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HeatingTemperatureSlot slot
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---
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bool result

‎srv/HeatingGetTimeSlots.srv

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---
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HeatingTemperatureSlot[] slots

‎srv/HeatingRemoveTimeSlot.srv

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HeatingTemperatureSlot slot
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---
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bool result

‎srv/HeatingRemoveTimeSlots.srv

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---
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bool result

‎srv/HeatingUpdatePid.srv

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# PID
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float32 proportional
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float32 integral
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float32 derivative
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int32 priority
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---
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HeatingStateData statedata

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