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AlexanderUPBAlexanderUPB
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Add ros_hwtopic_gateway demo
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‎demos/ros_hwtopic_gateway/client_app/gateway_hwtopic_input_test.py

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import rclpy
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from rclpy.node import Node
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import time
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import struct
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import random
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import os
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import numpy as np
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from cv_bridge import CvBridge
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from sensor_msgs.msg import Image
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import cv2
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from cv_bridge import CvBridge
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class ImagePubSub(Node):
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def __init__(self):
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super().__init__('Image')
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self.publisher_ = self.create_publisher(Image, 'inputtopic', 10)
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self.cv_image = cv2.imread('image.jpg') ### an RGB image
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self.bridge = CvBridge()
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self.tstart = 0
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self.tend = 0
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self.subscription = self.create_subscription(Image,'/topic/gateway',self.listener_callback, 10)
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self.subscription # prevent unused variable warning
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timer_period = 0.5 # seconds
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self.timer = self.create_timer(timer_period, self.timer_callback)
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self.msg = self.bridge.cv2_to_imgmsg(np.array(self.cv_image), "bgr8")
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self.cnt = 0
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def listener_callback(self, msg):
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#cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
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#cv2.imshow("Image window", cv_image)
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#cv2.waitKey(3)
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self.tend = time.time()
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print('%f' % (self.tend - self.tstart))
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self.cnt += 1
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exit()
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def timer_callback(self):
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self.publisher_.publish(self.msg)
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print("Data published!")
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self.tstart = time.time()
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self.timer.cancel()
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def main(args=None):
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rclpy.init(args=args)
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pubsub = ImagePubSub()
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rclpy.spin(pubsub)
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if __name__ == '__main__':
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main()

‎demos/ros_hwtopic_gateway/client_app/gateway_swtopic_input_test.py

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import rclpy
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from rclpy.node import Node
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import time
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import struct
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import random
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import os
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import numpy as np
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from cv_bridge import CvBridge
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from sensor_msgs.msg import Image
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import cv2
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from cv_bridge import CvBridge
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class ImagePubSub(Node):
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def __init__(self):
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super().__init__('Image')
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self.publisher_ = self.create_publisher(Image, '/topic/gateway', 10)
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self.cv_image = cv2.imread('image.jpg') ### an RGB image
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self.bridge = CvBridge()
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self.tstart = 0
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self.tend = 0
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self.subscription = self.create_subscription(Image,'/outputtopic',self.listener_callback, 10)
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self.subscription # prevent unused variable warning
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timer_period = 0.5 # seconds
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self.timer = self.create_timer(timer_period, self.timer_callback)
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self.msg = self.bridge.cv2_to_imgmsg(np.array(self.cv_image), "bgr8")
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self.cnt = 0
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def listener_callback(self, msg):
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#cv_image = self.bridge.imgmsg_to_cv2(msg, "bgr8")
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#cv2.imshow("Image window", cv_image)
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#cv2.waitKey(3)
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self.tend = time.time()
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print('%f' % (self.tend - self.tstart))
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self.cnt += 1
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exit()
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def timer_callback(self):
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self.publisher_.publish(self.msg)
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print("Data published!")
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self.tstart = time.time()
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self.timer.cancel()
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def main(args=None):
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rclpy.init(args=args)
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pubsub = ImagePubSub()
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rclpy.spin(pubsub)
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if __name__ == '__main__':
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main()

‎demos/ros_hwtopic_gateway/client_app/image.jpg

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‎demos/ros_hwtopic_gateway/server_app/build.cfg

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#
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# General settings
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#
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# Name - name of your application
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# TargetBoard - board to run your application on
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# zedboard
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# TargetPart - part to run you application on
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# ReferenceDesign - reference design template
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# timer
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# TargetOS - operating system to use
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# linux
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# TargetXil - xilinx tools to use
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# vivado,2017.1
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# vivado,2016.2
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# ise,14.7
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# TargetHls - HLS synthesis tool to use
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# SystemClock - clock of the ReconOS system (defined below)
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# CFlags - additional flags for compilation
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# LdFlags - additional flags for linking
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#
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[General]
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Name = SortDemo
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TargetBoard = zcu104,0
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TargetPart = xczu7ev-ffvc1156-2-e
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CPUArchitecture = arm64
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ROS2Distribution = galactic
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ReferenceDesign = hwtopics
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TargetOS = linux64
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TargetXil = vivado,2021.2
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TargetHls = vivado,2021.2
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SystemClock = System
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#CFlags = -I $(RECONOS)/linux/tools/timer
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#LdFlags = -L $(RECONOS)/linux/tools/timer -ltimer
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TargetBoardAddress = 131.234.250.144
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#TargetBoardAddress = 192.168.188.90
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#TargetBoardAddress = 192.168.2.99
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TargetBoardUser = root
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TargetBoardPassword = xilinx
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#
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# Clock definition [Clock@<clock_name>]
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#
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# ClockSource - static or dynamic clock
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# static
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# dynamic
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# ClockFreq - initial clock frequency
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#
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[Clock@System]
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ClockSource = static
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ClockFreq = 100000000
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#
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# Specification of hardware thread slots [Thread@<slot_name>(<id_range>)]
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#
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# Id - id of the slot
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# Clock - clock connected to the slot
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#
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[HwSlot@SlotThreada(0:0)]
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Id = 0
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Clock = System
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[HwSlot@SlotThreadb(0:0)]
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Id = 1
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Clock = System
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[HwSlot@Gateways(0:0)]
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Id = 2
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Clock = System
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#
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# Resource definition [ResourceGroup@<group_name>]
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#
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# <resource_name> - type,<optional arguments>
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#
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[ResourceGroup@RThread0]
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tmp = mbox, 128
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[ResourceGroup@RThreada]
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debug_mbox = mbox, 128
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img_output = rosmsg, sensor_msgs ,msg ,Image
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node_1 = rosnode, "nodeofthread2"
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PubData = rospub, node_1,img_output, "/outputtopic"
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SubData = rossub, node_1,sensor_msgs/Image, "nicehwtopic", hw
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[ResourceGroup@RThreadb]
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img_input = rosmsg, sensor_msgs ,msg ,Image
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node_1 = rosnode, "nodeofthread1"
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SubData = rossub, node_1, img_input, "/inputtopic", 10000
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PubData = rospub, node_1, sensor_msgs/Image, "nicehwtopic", hw
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[ResourceGroup@RThreadc]
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img_output = rosmsg, sensor_msgs ,msg ,Image
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node_1 = rosnode, "nodeofthread3"
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PubData = rospub, node_1, img_output, "outputtopic"
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SubData = rossub, node_1, sensor_msgs/Image, "nicehwtopic", hw
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#
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# Specification of thread types [ReconosThread@<thread_name>]
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#
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# Slot - slot to implement the hardware thread in
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# <slot_name>(<id>)
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# HwSource - source of the hardware thread
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# vhdl
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# hls
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# SwSource - source of the software thread
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# c
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# ResourceGroup - resources of the hardware thread
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# <group_name>
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#
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[ReconosThread@Threada]
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Slot = SlotThreada(*)
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HwSource = hls
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ResourceGroup = RThreada
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[ReconosThread@Threadb]
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Slot = SlotThreadb(*)
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HwSource = hls
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ResourceGroup = RThreadb
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[ROSGateway@Gateway1]
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Slot = Gateways(0)
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HWTopic = "nicehwtopic"
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SWTopic = "/topic/gateway"
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MsgType = sensor_msgs/Image

‎demos/ros_hwtopic_gateway/server_app/src/application/main.c

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#include "reconos.h"
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#include "reconos_app.h"
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#include "mbox.h"
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#define DEFAULT_IMAGE_HEIGHT 1000
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#define DEFAULT_IMAGE_WIDTH 1000
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#define log(...) printf(__VA_ARGS__); fflush(stdout)
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int main(int argc, char **argv) {
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printf("Start init \n");
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reconos_init();
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reconos_app_init();
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// gateway image
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rthreada_img_output->header.frame_id.data=malloc(DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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rthreada_img_output->encoding.data = malloc(DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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rthreada_img_output->data.data = malloc(DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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gateway1_ressourcegroup_msg_out->header.frame_id.data=malloc(DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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gateway1_ressourcegroup_msg_out->encoding.data = malloc(DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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gateway1_ressourcegroup_msg_out->data.data = malloc(DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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memset(rthreada_img_output->header.frame_id.data, 0, DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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memset(rthreada_img_output->encoding.data, 0, DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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memset(rthreada_img_output->data.data, 0, DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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memset(gateway1_ressourcegroup_msg_out->header.frame_id.data, 0, DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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memset(gateway1_ressourcegroup_msg_out->encoding.data, 0, DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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memset(gateway1_ressourcegroup_msg_out->data.data, 0, DEFAULT_IMAGE_HEIGHT*DEFAULT_IMAGE_WIDTH*3);
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reconos_thread_create_hwt_threada(0);
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reconos_thread_create_hwt_threadb(0);
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reconos_thread_create_hwt_gateway1(0);
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ros_subscriber_set_publishfilter(gateway1_ressourcegroup_sub, gateway1_ressourcegroup_pub->guid);
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while(1)
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{
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sleep(1);
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//ros_subscriber_message_take(gateway1_ressourcegroup_sub, gateway1_ressourcegroup_msg_in);
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//printf("Message arrived! \n");
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//printf("size = %d, data = %x \n", gateway1_ressourcegroup_msg_in->encoding.size, gateway1_ressourcegroup_msg_in->encoding.data);
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//uint32_t val = mbox_get(rthreada_debug_mbox);
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//printf("Message arrived! \n");
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// printf("gateway1_ressourcegroup_msg_out->height = %d \n", rthreada_img_output->height);
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// printf("gateway1_ressourcegroup_msg_out->width = %d \n", rthreada_img_output->width);
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// printf("gateway1_ressourcegroup_msg_out->encoding.data = %s \n", rthreada_img_output->encoding.data);
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// printf("gateway1_ressourcegroup_msg_out->encoding.size = %d \n", rthreada_img_output->encoding.size);
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// printf("gateway1_ressourcegroup_msg_out->encoding.capacity = %d \n", rthreada_img_output->encoding.capacity);
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// printf("gateway1_ressourcegroup_msg_out->header.frame_id.data = %s \n", rthreada_img_output->header.frame_id.data);
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// printf("gateway1_ressourcegroup_msg_out->header.frame_id.size = %d \n", rthreada_img_output->header.frame_id.size);
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// printf("gateway1_ressourcegroup_msg_out->header.frame_id.capacity = %d \n", rthreada_img_output->header.frame_id.capacity);
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}
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reconos_app_cleanup();
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reconos_cleanup();
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return 0;
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}

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