1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
|
\chapter{Compiling a FAUST Program for ROS Use}
\label{chap:compilation}
To compile a \faust program for a \ros use, you can use either the \lstinline'faust2ros' command, or the \lstinline'faust2rosgtk' one, which adds a gtk graphic user interface to the simple \lstinline'faust2ros' command.
Note that all the \faust compilation options remain.
\paragraph{Comment :}The compilation can last between 10 and 20 seconds. This is completely normal ! The bash script includes some \ros compilation with \lstinline'catkin_make'.
\paragraph{\color{yoheader}BE CAREFUL !}To run these commands, you need to have \ros installed on your machine. They are indeed using \lstinline'catkin_make' and \lstinline'rosrun', which are \ros commands.
\section{How does it work ?}
\lstinline'faust2ros' (or \lstinline'faust2rosgtk') is a small command, which hides a lot of things. This section aims for a clarification.
\subsection{Different steps}
\label{subsec:steps}
\newcounter{descriptcount}
\begin{description}[%
before={\setcounter{descriptcount}{0}},%
,font=\bfseries\stepcounter{descriptcount}Step \arabic{descriptcount}.~]
\item [Workspace Creation :] if asked, a workspace can be created if it does not already exist. A workspace is considered as a \ros workspace if it contains a non-writable CMakeLists.txt in its \lstinline'src' folder. If the user wants to get a .zip file, a temporary workspace is created.
\item [First compilation :] the .dsp file is compiled a first time thanks to the \faust compiler and the ros-callbacks.cpp architecture file. This step is dedicated to the \ros metadata. The C$++$ file is then compiled into an executable thanks to \lstinline'catkin', which uses CMake.
\item [Second compilation :]the .dsp file is compiled again, thanks to the \faust compiler and the jack-ros.cpp architecture file (respectively jack-gtk-ros.cpp). This step creates the \ros code, with a missing class. This class is then included with the execution of the previous executable, and the C$++$ file can be compiled with \lstinline'catkin'.
\item[Cleaning :] the package is compressed into a .zip archive and the temporary folder deleted.
\end{description}
\subsection{With an example}
Let's imagine that I want to compile the harpe.dsp file. There are three parameters that can be
changed : attenuation, hand and level. I want \textit{hand} to be controlled through a topic
called \texttt{/my/robot/topic}. This topic is going to deliver messages of type
std\_msgs/Int64. \\
My metadata declaration line will look like
\lstinline'[ros:/my/robot/topic std_msgs Int64 data]'.
The second compilation (step 3 below in subsection \ref{subsec:steps}) will add a class called RosCallbacks in which are :
\begin{itemize}
\item a ranging function, that re-scales values from the topic to fit with the \faust sliders scale.
\item a specific callback, called callback0, which sets the audio parameter value to the message value : \begin{lstlisting}
void callback0(const std_msgs::Int64ConstPtr& msg, FAUSTFLOAT* zone)
\end{lstlisting}
\item a subscribing function, which calls callback0 in the \ros way :
\begin{lstlisting}
void Subscribe(std::vector<FAUSTFLOAT*> zones)
{
ros::Subscriber* my_sub0 = new ros::Subscriber();
*my_sub0 = nh_.subscribe<std_msgs::Int64>("my/robot/topic", 1, boost::bind(&RosCallbacks::callback0, this, _1, zones[0]));
}
\end{lstlisting}
\end{itemize}
\newpage
\section{Compiling in a FAUST Archive}
In order to compile a DSP file into a \faust archive, just type the command followed by your file :
\begin{lstlisting}
faust2ros file.dsp
\end{lstlisting}
It should output :
\begin{lstlisting}
file.zip;
\end{lstlisting}
and the resulting \lstinline'file.zip' folder should contain a package called \lstinline'file', which contains a .cpp file corresponding to the DSP file.\\
If the DSP file is not in the current directory, make sure to type the right path. For instance :
\begin{lstlisting}
faust2ros ~/faust/examples/myfile.dsp
\end{lstlisting}
\paragraph{Comments:}
\begin{itemize}
\item If you want to use the \lstinline'faust2rosgtk' command, the output will have a \lstinline'_gtk' extension. For instance :
\begin{lstlisting}
faust2rosgtk file.dsp
\end{lstlisting}
should output :
\begin{lstlisting}
file_gtk.zip;
\end{lstlisting}
\item The zip file is located in the current directory.
\end{itemize}
\newpage
\section{Compiling in a Workspace}
Thanks to the option \lstinline'-install', you have the possibility to create a package from your DSP file directly in a workspace you choose.
Just type :
\begin{lstlisting}
faust2ros -install faust_ws file.dsp
\end{lstlisting}
It should output :
\begin{lstlisting}
file.cpp;
\end{lstlisting}
and you should have a faust\_ws repository looking like this :\\
\dirtree{%
.1 faust\_ws.
.2 build.
.2 devel.
.2 src.
.3 file : \begin{minipage}[t]{10cm}
File Package{}
\end{minipage}.
.4 include.
.4 src.
.5 \textcolor{margincolor}{file.cpp} :
\begin{minipage}[t]{10cm}
File generated with the \faust compiler{}
\end{minipage}.
.4 CMakeLists.txt.
.4 package.xml.
}
%\section{Renaming DSP file}
%If the dsp file name does not fit you, you can change it using the \lstinline'-o' command.
%For instance, if you want the package generated from DSP file to have a different name that your DSP file name, you can type :
%\begin{lstlisting}
% faust2ros -o foobar file.dsp
%\end{lstlisting}
%The output is going to be : \\
%
%\dirtree{%
%.1 foobar.zip.
% .2 faust\_msgs.
% .2 foobar.
%}
\section{Example}
Here is an example of a three files compilation.\\
Input :
\begin{lstlisting}
faust2rosgtk -install foo_ws -o foo1 file1.dsp
-install foo_ws -o foo2 file2.dsp
-install bar_ws -o bar file3.dsp
\end{lstlisting}
Output :\\
\dirtree{%
.1 \~{ }.
.2 foo\_ws.
.3 foo1.
.3 foo2.
.2 bar\_ws.
.3 bar.
}
|
