add ros/testrosmodulecomm for test ros use libmodulecomm.

src/ros/testrosmodulecomm/CMakeLists.txt

@@ -0,0 +1,86 @@
+cmake_minimum_required(VERSION 2.8.11)
+project(testrosmodulecomm)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  roscpp
+  pluginlib
+  sensor_msgs
+  pcl_ros
+  pcl_conversions
+)
+find_package(Boost REQUIRED)
+
+set(CMAKE_INCLUDE_CURRENT_DIR ON)
+set(CMAKE_AUTOMOC ON)
+set(CMAKE_AUTOUIC ON)
+set(CMAKE_AUTORCC ON)
+
+
+if(CMAKE_COMPILER_IS_GNUCXX)
+    set(CMAKE_CXX_FLAGS "-fPIC ${CMAKE_CXX_FLAGS}")
+    message(STATUS "optional:-fPIC")   
+endif(CMAKE_COMPILER_IS_GNUCXX)
+
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+#find_package(Qt5Core  REQUIRED)
+#qt5_wrap_cpp(MOC src/qt_ros_test.h)
+#qt5_wrap_ui(UIC src/qt_ros_test.ui)
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+##   INCLUDE_DIRS include
+#  LIBRARIES client_plugin
+   CATKIN_DEPENDS 
+    roscpp std_msgs 
+    sensor_msgs pluginlib
+    pcl_ros pcl_conversions
+  DEPENDS
+    Boost
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+##  INCLUDE_DIRS include
+  ${CMAKE_CURRENT_BINARY_DIR}/..
+  ${catkin_INCLUDE_DIRS} include
+  ${Boost_INCLUDE_DIR}
+  /opt/qt/5.13.2/gcc_64/include
+  /opt/qt/5.13.2/gcc_64/include/QtCore
+)
+
+link_directories(
+  ${catkin_LIB_DIRS} lib
+  /opt/qt/5.13.2/gcc_64/lib
+)
+
+## Declare a C++ executable
+add_executable(${PROJECT_NAME}_node src/main.cpp )
+target_link_libraries(${PROJECT_NAME}_node ${catkin_LIBRARIES} Qt5Core Qt5Xml modulecomm)
+

src/ros/testrosmodulecomm/include/modulecomm.h

@@ -0,0 +1,80 @@
+#ifndef MODULECOMM_H
+#define MODULECOMM_H
+
+
+#include <QtCore/qglobal.h>
+#include <QDateTime>
+
+#include <functional>
+
+
+
+
+#if defined(MODULECOMM_LIBRARY)
+#  define MODULECOMMSHARED_EXPORT Q_DECL_EXPORT
+#else
+#  define MODULECOMMSHARED_EXPORT Q_DECL_IMPORT
+#endif
+
+
+
+
+
+
+//#include <iostream>
+//#include <thread>
+
+//using namespace std::placeholders;
+
+#ifndef IV_MODULE_FUN
+
+typedef std::function<void(const char * ,const unsigned int , const unsigned int , QDateTime * ,const char *)> ModuleFun;
+typedef void (* SMCallBack)(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname);
+#define IV_MODULE_FUN
+#endif
+
+namespace iv {
+namespace modulecomm {
+
+enum ModuleComm_TYPE
+{
+    ModuleComm_SHAREMEM = 0,
+    ModuleComm_INTERIOR = 1,
+    ModuleComm_FASTRTPS = 2,
+    ModuleComm_FASTRTPS_TCP = 3,
+    ModuleComm_UNDEFINE = 4
+};
+
+void * MODULECOMMSHARED_EXPORT RegisterSend(const char * strcommname);
+
+
+void * MODULECOMMSHARED_EXPORT RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount
+                                            ,ModuleComm_TYPE xmctype,const unsigned short nport);
+void * MODULECOMMSHARED_EXPORT RegisterRecv(const char * strcommname,SMCallBack pCall,
+                                            ModuleComm_TYPE xmctype ,const char * strip,const unsigned short );
+void * MODULECOMMSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun,
+                                                ModuleComm_TYPE xmctype,const char * strip,const unsigned short );
+
+
+//void * MODULECOMMSHARED_EXPORT RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount
+//                                            ,ModuleComm_TYPE xmctype = ModuleComm_UNDEFINE,const unsigned short nport = 5100);
+//void * MODULECOMMSHARED_EXPORT RegisterRecv(const char * strcommname,SMCallBack pCall,
+//                                            ModuleComm_TYPE xmctype = ModuleComm_UNDEFINE,const char * strip = 0,const unsigned short = 5100);
+//void * MODULECOMMSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun,
+//                                                ModuleComm_TYPE xmctype = ModuleComm_UNDEFINE,const char * strip = 0,const unsigned short = 5100);
+
+void MODULECOMMSHARED_EXPORT ModuleSendMsg(void * pHandle,const char * strdata,const unsigned int nDataLen);
+void MODULECOMMSHARED_EXPORT Unregister(void * pHandle);
+void MODULECOMMSHARED_EXPORT PauseComm(void * pHandle);
+void MODULECOMMSHARED_EXPORT ContintuComm(void * pHandle);
+
+void * MODULECOMMSHARED_EXPORT RegisterSend(const char * strcommname,const unsigned int nBufSize,const unsigned int nMsgBufCount);
+void * MODULECOMMSHARED_EXPORT RegisterRecv(const char * strcommname,SMCallBack pCall);
+void * MODULECOMMSHARED_EXPORT RegisterRecvPlus(const char * strcommname,ModuleFun xFun);
+
+
+}
+
+}
+
+#endif // MODULECOMM_H

src/ros/testrosmodulecomm/package.xml

@@ -0,0 +1,67 @@
+<?xml version="1.0"?>
+<package>
+  <name>testrosmodulecomm</name>
+  <version>0.0.0</version>
+  <description>The qt_ros_pcl package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="hans@todo.todo">hans</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/client_plugin</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>std_msgs</run_depend>
+
+  <build_depend>pluginlib</build_depend>
+  <run_depend>pluginlib</run_depend>
+
+  <build_depend>sensor_msgs</build_depend>
+  <run_depend>sensor_msgs</run_depend>
+
+  <build_depend>pcl_ros</build_depend>
+  <run_depend>pcl_ros</run_depend>
+
+  <build_depend>pcl_conversions</build_depend>
+  <run_depend>pcl_conversions</run_depend>
+
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/ros/testrosmodulecomm/src/main.cpp

@@ -0,0 +1,37 @@
+#include "ros/ros.h"
+
+//#include <QSharedMemory>
+//#include <QString>
+
+
+#include "modulecomm.h"
+
+int main(int argc, char *argv[])
+{
+	ros::init(argc, argv, "qt_ros_pcl");
+	ros::NodeHandle n;
+	ros::Rate loop_rate(1);
+
+	void * pmsg = iv::modulecomm::RegisterSend("roscomm",1000,3);
+
+//	QString str = "hello";
+//	std::cout<<"enter test ros."<<str.toStdString()<<std::endl;
+
+
+    ros::NodeHandle private_nh("~");
+ //   private_nh.getParam("points_node",_point_topic);
+       int index = 0;
+	index++;
+	iv::modulecomm::ModuleSendMsg(pmsg,(char *)&index,4);
+
+	while (ros::ok())
+	{
+ //       ROS_INFO("hello");
+        ros::spinOnce();
+	
+		index++;
+	iv::modulecomm::ModuleSendMsg(pmsg,(char *)&index,4);
+	std::cout<<"send msg. index "<<index<<std::endl;
+	 	loop_rate.sleep();
+	}
+}

src/test/testrosmodulecommrecv/.gitignore

@@ -0,0 +1,73 @@
+# This file is used to ignore files which are generated
+# ----------------------------------------------------------------------------
+
+*~
+*.autosave
+*.a
+*.core
+*.moc
+*.o
+*.obj
+*.orig
+*.rej
+*.so
+*.so.*
+*_pch.h.cpp
+*_resource.rc
+*.qm
+.#*
+*.*#
+core
+!core/
+tags
+.DS_Store
+.directory
+*.debug
+Makefile*
+*.prl
+*.app
+moc_*.cpp
+ui_*.h
+qrc_*.cpp
+Thumbs.db
+*.res
+*.rc
+/.qmake.cache
+/.qmake.stash
+
+# qtcreator generated files
+*.pro.user*
+
+# xemacs temporary files
+*.flc
+
+# Vim temporary files
+.*.swp
+
+# Visual Studio generated files
+*.ib_pdb_index
+*.idb
+*.ilk
+*.pdb
+*.sln
+*.suo
+*.vcproj
+*vcproj.*.*.user
+*.ncb
+*.sdf
+*.opensdf
+*.vcxproj
+*vcxproj.*
+
+# MinGW generated files
+*.Debug
+*.Release
+
+# Python byte code
+*.pyc
+
+# Binaries
+# --------
+*.dll
+*.exe
+

src/test/testrosmodulecommrecv/main.cpp

@@ -0,0 +1,23 @@
+#include <QCoreApplication>
+
+#include <iostream>
+
+#include "modulecomm.h"
+
+
+void ListenROSMsg(const char * strdata,const unsigned int nSize,const unsigned int index,const QDateTime * dt,const char * strmemname)
+{
+//    gIvlog->debug("ListenCanState");
+    int * p;
+    p = (int * )strdata;
+    std::cout<<" index : "<<*p<<std::endl;
+}
+
+int main(int argc, char *argv[])
+{
+    QCoreApplication a(argc, argv);
+
+    iv::modulecomm::RegisterRecv("roscomm",ListenROSMsg);
+
+    return a.exec();
+}

src/test/testrosmodulecommrecv/testrosmodulecommrecv.pro

@@ -0,0 +1,28 @@
+QT -= gui
+
+CONFIG += c++11 console
+CONFIG -= app_bundle
+
+# The following define makes your compiler emit warnings if you use
+# any Qt feature that has been marked deprecated (the exact warnings
+# depend on your compiler). Please consult the documentation of the
+# deprecated API in order to know how to port your code away from it.
+DEFINES += QT_DEPRECATED_WARNINGS
+
+# You can also make your code fail to compile if it uses deprecated APIs.
+# In order to do so, uncomment the following line.
+# You can also select to disable deprecated APIs only up to a certain version of Qt.
+#DEFINES += QT_DISABLE_DEPRECATED_BEFORE=0x060000    # disables all the APIs deprecated before Qt 6.0.0
+
+SOURCES += \
+        main.cpp
+
+# Default rules for deployment.
+qnx: target.path = /tmp/$${TARGET}/bin
+else: unix:!android: target.path = /opt/$${TARGET}/bin
+!isEmpty(target.path): INSTALLS += target
+
+
+!include(../../../include/common.pri ) {
+    error( "Couldn't find the common.pri file!" )
+}