Difference between revisions of "Advantech Robotic Suite/SUSI Node"
From ESS-WIKI
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<pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | <pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | ||
| − | Step2. Setup | + | Step2. Setup SUSI Node message: |
<pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | <pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | ||
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<pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | <pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | ||
| − | Step2. Setup | + | Step2. Setup SUSI Node message: |
<pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | <pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | ||
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<pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | <pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | ||
| − | Step2. Setup | + | Step2. Setup SUSI Node ROS message: |
<pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | <pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | ||
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<pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | <pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | ||
| − | Step2. Setup | + | Step2. Setup SUSI Node's ROS message: |
<pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | <pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | ||
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<pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | <pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | ||
| − | Step2. Setup | + | Step2. Setup SUSI Node message: |
<pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | <pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | ||
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<pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | <pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | ||
| − | Step2. Setup | + | Step2. Setup SUSI Node message: |
<pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | <pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | ||
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<pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | <pre>$ source /opt/ros/${ROS_DISTRO}/setup.bash</pre> | ||
| − | Step2. Setup | + | Step2. Setup SUSI Node message: |
<pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | <pre>$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash</pre> | ||
Revision as of 03:22, 4 January 2024
Contents
Brief
Advantech has created SUSI APIs to simplify application development and offer exclusive services with Advantech’s embedded platforms. SUSI APIs make it easier for customers to program and configure features while integrating solutions.
SUSI node get Advantech hardware data ( includes Intel x86, RISC NXP and Nvidia Jetson ) through SUSI API, the data will be converter to ROS DDS data format and be published by pre-defined topic "/adv/susicontrol", client node can subscribe the topic to receive hardware data that SUSI node published. SUSI node also support set command to change writable sensor through ROS service, ROS developer can easy to set and control platform info with SUSI Node.
SUSI Data Category:
| Category | Sensor | Description | Data Type |
|---|---|---|---|
| /Platform Information | /Spec version | SUSI API Specification Version | string |
| /Boot up times | Boot counter | integer | |
| /Running time (hours) | Running time (hours) from power on | integer | |
| /BIOS revision | BIOS version | string | |
| /Board manufacturer | Board manufacturer | string | |
| /Board name | Board name | string | |
| /Board serial number | Board serial number | string | |
| /Driver version | SUSI driver version | string | |
| /Library version | SUSI library version | string | |
| /Microsoft Plug-and-Play ID | Microsoft Plug-and-Play ID | string | |
| /Hardware Monitor | /Voltage/Vcore | CPU core voltage | float |
| /Voltage/3.3V | CPU 3.3V voltage | float | |
| /Voltage/5V | CPU 5V voltage | float | |
| /Voltage/12V | CPU 12V voltage | float | |
| /Voltage/5V Standby | CPU 5V voltage | float | |
| /Voltage/CMOS Battery | CMOS Battery voltage | float | |
| /Voltage/VCC3 | VCC3 voltage | float | |
| /Current/OEM0 | OEM0 current | float | |
| /Fan Speed/CPU | CPU Fan speed | integer | |
| /Fan Speed/System | System Fan Speed | integer | |
| /Fan Speed/System2 | System2 Fan Speed | integer | |
| /Temperature/CPU | CPU Temperature | float | |
| /Temperature/System | System Temperature | float | |
| /GPIO | /GPIO/GPIO(n)/Level | Digital I/O control (n) Level | boolean |
| /GPIO/GPIO(n)/Dir | Digital I/O control (n) Direction | boolean | |
| /Backlight | /Backlight (n)/Brightness | LVDS screen backlight brightness control | integer |
| /Backlight (n)/Frequency | LVDS screen backlight Frequency control | integer | |
| /Backlight (n)/Polarity | LVDS screen backlight Polarity control | boolean | |
| /DiskInfo | /Disk (n) Total Disk Space | Disk (partition) Total Disk Space | integer |
| /Disk (n) Free Disk Space | Disk (partition) Total Disk Space | integer | |
| /SUSIIoT Information | /version | SUSIIoT version information | string |
Topic definition
The topic of SUSIControl node is defined as below:
/adv/susicontrol
Message definition
The messages definition of SUSI node is defined in below link:
http://ess-wiki.advantech.com.tw/view/Robotic_Dev_SDK/Advantech_ROS2_Data_Format
Message update
The message is updated periodically in 10 seconds, you can use ROS2 utility to verify the data update:
Subscribe Sensor using ROS2 utility
Step1. Setup ROS2 environmant variables:
$ source /opt/ros/${ROS_DISTRO}/setup.bash
Step2. Setup SUSI Node message:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash
Step3. List all topics:
$ ros2 topic list
output:
/adv/parameter_events /adv/susicontrol /parameter_events /rosout
Step4. Subscribe node data
$ ros2 topic echo /adv/susicontrol
output:
sensor: SUSIControl/DiskInfo/Disk C Total Disk Space type: v bv: false v: 60039.0 sv: '' ts: 1677659397728 --- sensor: SUSIControl/Platform Information/BIOS revision type: sv bv: false v: 0.0 sv: V1.13 ts: 1677659397728 --- sensor: SUSIControl/Hardware Monitor/Voltage/5V type: v bv: false v: 5.216 sv: '' ts: 1677659397728 --- sensor: SUSIControl/Hardware Monitor/Fan Speed/CPU type: v bv: false v: 0.0 sv: '' ts: 1677659397728 --- sensor: SUSIControl/GPIO/GPIO00/Dir type: bv bv: true v: 0.0 sv: '' ts: 1677659397728 --- sensor: SUSIControl/GPIO/GPIO01/Dir type: bv bv: true v: 0.0 sv: '' ts: 1677659397728 --- sensor: SUSIControl/GPIO/GPIO06/Level type: bv bv: true v: 0.0 sv: '' ts: 1677659397728 --- sensor: SUSIControl/GPIO/GPIO07/Dir type: bv bv: true v: 0.0 sv: '' ts: 1677659397728 --- sensor: SUSIControl/GPIO/GPIO07/Level type: bv bv: true v: 0.0 sv: '' ts: 1677659397728 --- sensor: SUSIControl/Backlight/Backlight 1/Brightness type: v bv: false v: 255.0 sv: '' ts: 1677659397728 --- sensor: SUSIControl/Backlight/Backlight 1/Frequency type: v bv: false v: 18780.0 sv: '' ts: 1677659397728 --- sensor: SUSIControl/Backlight/Backlight 1/Polarity type: bv bv: false v: 0.0 sv: '' ts: 1677659397728 ---
Sample Client
This session describe how to subscribe SUSIControl node data by SUSIControl node topic.
Node.js
The program rclnodejs_edge_data_client is a node.js example for user to understand how to use rclnodejs to subscribe SUSI node's data. Please follow below steps to run the program, when the program launched, it will subscribe SUSI node's sensor and print the data in the console screen.
Subscribe Sensor
Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:
$ source /opt/ros/${ROS_DISTRO}/setup.bash
Step2. Setup SUSI Node message:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash
Step3. Go to node.js SUSIControl node sample client path:
$ cd /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/rclnodejs_edge_data_client/
Step4. Run node.js SUSIControl client:
$ node example_SubscribeSensor.js "rclnodejs_SUSIControl_subscriber" "/adv/susicontrol"
Step5. Verify received data:
[INFO] [1666244753.823296758] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/SUSIIoT Information/version, sv = 1.0.14327 [INFO] [1666244753.824233548] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/DiskInfo/Disk C Total Disk Space, v = 60039 [INFO] [1666244753.825679860] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/DiskInfo/Disk C Free Disk Space, v = 2573 [INFO] [1666244753.826547529] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Platform Information/Board manufacturer, sv = Advantech [INFO] [1666244753.827426338] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Platform Information/Board name, sv = AIMB-285 [INFO] [1666244753.828303175] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Platform Information/BIOS revision, sv = V1.13 [INFO] [1666244753.829165104] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Platform Information/Driver version, sv = 4.0.14326 [INFO] [1666244753.830043506] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Platform Information/Library version, sv = 4.0.14326 [INFO] [1666244753.830895635] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/Vcore, v = 0.464 [INFO] [1666244753.831752533] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/3.3V, v = 3.36 [INFO] [1666244753.832659914] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/5V, v = 5.184 [INFO] [1666244753.833530130] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/12V, v = 12.021 [INFO] [1666244753.834384115] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/5V Standby, v = 5.216 [INFO] [1666244753.835268840] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Voltage/CMOS Battery, v = 3.152 [INFO] [1666244753.836147029] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Fan Speed/CPU, v = 0 [INFO] [1666244753.837019121] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Fan Speed/System, v = 2528 [INFO] [1666244753.837897563] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Hardware Monitor/Temperature/CPU, v = 34.7 [INFO] [1666244753.838757469] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO05/Dir, bv = true [INFO] [1666244753.839612342] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO05/Level, bv = true [INFO] [1666244753.841073336] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO00/Level, bv = true [INFO] [1666244753.841963148] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO02/Level, bv = true [INFO] [1666244753.842830913] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO01/Dir, bv = true [INFO] [1666244753.843763644] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO03/Dir, bv = true [INFO] [1666244753.844590639] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO03/Level, bv = true [INFO] [1666244753.845344403] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO04/Dir, bv = true [INFO] [1666244753.846105225] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO04/Level, bv = true [INFO] [1666244753.846631442] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO06/Dir, bv = true [INFO] [1666244753.847148533] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO06/Level, bv = true [INFO] [1666244753.847914130] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO07/Dir, bv = true [INFO] [1666244753.848709254] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/GPIO/GPIO07/Level, bv = true [INFO] [1666244753.849491291] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Backlight/Backlight 1/Brightness, v = 255 [INFO] [1666244753.850278964] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Backlight/Backlight 1/Frequency, v = 18780 [INFO] [1666244753.851031430] [rclnodejs_SUSIControl_subscriber]: Data: sensor = SUSIControl/Backlight/Backlight 1/Polarity, bv = false
Set sensor
This session describe how to set SUSI node data by set action. To run the set sensor sample, your device need have writable sensor supported for SUSI driver.
Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:
$ source /opt/ros/${ROS_DISTRO}/setup.bash
Step2. Setup SUSI Node ROS message:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash
Step3. Go to node.js SUSIControl node sample client path:
$ cd /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/rclnodejs_edge_data_client/
Step4. Run SUSIControl set sensor sample client:
Command:
node example_SetSensor.js [node name] [action] [sensor] [type] [value]
Example:
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO00/Dir" "bv" false
Step5. Received data:
[INFO] [1665541698.282173185] [adv.SUSIControl_Client]: Waiting for action server...
[INFO] [1665541698.317823807] [adv.SUSIControl_Client]: Sending goal request...
[INFO] [1665541698.350790289] [adv.SUSIControl_Client]: Received feedback: status = {"status":200,"sensor":"SUSIControl/GPIO/GPIO00/Dir","info":"Success","ts":1665541699007}
[INFO] [1665541698.389403371] [adv.SUSIControl_Client]: Goal accepted
[INFO] [1665541698.849897490] [adv.SUSIControl_Client]: Goal suceeded with result: 202
Use Case: EPC-R3720 GPIO Usage
This case is a demonstration to instruct EPC-R3720 GPIO configuration and usage.
- GPIO Pins definition:
- GPIO Mapping Table:
| D-sub pins | GPIO number | Direction |
|---|---|---|
| DO1 | GPIO6 | 0 |
| DO2 | GPIO8 | 0 |
| DO3 | GPIO10 | 0 |
| DO4 | GPIO12 | 0 |
| DI1 | GPIO5 | 1 |
| DI2 | GPIO7 | 1 |
| DI3 | GPIO9 | 1 |
| DI4 | GPIO11 | 1 |
NOTE: GPIO2 and GPIO4 are not connected to D-sub connector
- Hardware Config:
In this demonstraction, we would like to do a loopback test from DO to DI, before start below steps, we need to wire-connect from DO to DI for each:
DO1 (GPIO6) --- DI1 (GPIO5)
DO2 (GPIO8) --- DI2 (GPIO7)
DO3 (GPIO10) --- DI3 (GPIO9)
DO4 (GPIO12) --- DI4 (GPIO11)
- Steps:
Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:
$ source /opt/ros/${ROS_DISTRO}/setup.bash
Step2. Setup SUSI Node's ROS message:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash
Step3. Go to node.js SUSIControl node sample client path:
$ cd /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/rclnodejs_edge_data_client/
Step4. Config GPIO6, GPIO8, GPIO10 and GPIO12 as output pins:
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO6/Dir" "bv" false $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO8/Dir" "bv" false $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO10/Dir" "bv" false $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO12/Dir" "bv" false
Step5. Config GPIO5, GPIO7, GPIO9 and GPI11 as input pins:
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO5/Dir" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO7/Dir" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO9/Dir" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO11/Dir" "bv" true
Step6. Set GPIO6, GPIO8, GPIO10 and GPIO12 output Level to 1 (Logical high):
After GPIO6, GPIO8, GPIO10 and GPIO12 are config to output pins, than you can set their Level to true/false by "adv_susicontrol_set" command.
Note: Please do not set value to the pins GPIO5, GPIO7, GPIO9 and GPIO11 because these pins are configured as input pins, set value action is not allow.
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO6/Level" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO8/Level" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO10/Level" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO12/Level" "bv" true
Step7. Run node.js SUSIControl client:
$ node example_SubscribeSensor.js "rclnodejs_SUSIControl_subscriber" "/adv/susicontrol"
Step8. Verify received data:
You have entered arguments: node name: rclnodejs_SUSIControl_subscriber message topic: /adv/susicontrol ---------------------------------------------- Data: sensor = "SUSIControl/GPIO/GPIO5/Dir", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO5/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO6/Dir", v = 0.00 Data: sensor = "SUSIControl/GPIO/GPIO6/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO7/Dir", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO7/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO8/Dir", v = 0.00 Data: sensor = "SUSIControl/GPIO/GPIO8/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO9/Dir", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO9/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO10/Dir", v = 0.00 Data: sensor = "SUSIControl/GPIO/GPIO10/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO11/Dir", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO11/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO12/Dir", v = 0.00 Data: sensor = "SUSIControl/GPIO/GPIO12/Level", v = 1.00
Use Case: MIO-5375 GPIO Usage
This case is a demonstration to instruct MIO-5375 GPIO configuration and usage.
- GPIO Pins definition:
- GPIO cable definition:
- GPIO Mapping Table:
| D-sub pins | GPIO number | Direction |
|---|---|---|
| DO1 | GPIO00 | 0 |
| DO2 | GPIO01 | 0 |
| DO3 | GPIO02 | 0 |
| DO4 | GPIO03 | 0 |
| DI1 | GPIO04 | 1 |
| DI2 | GPIO05 | 1 |
| DI3 | GPIO06 | 1 |
| DI4 | GPIO07 | 1 |
NOTE: All GPIO direction are configable.
- Hardware Config:
In this demonstraction, we would like to do a loopback test from DO to DI, before start below steps, we need to wire-connect from DO to DI for each:
DO1 (GPIO00) --- DI1 (GPIO04)
DO2 (GPIO01) --- DI2 (GPIO05)
DO3 (GPIO02) --- DI3 (GPIO06)
DO4 (GPIO03) --- DI4 (GPIO07)
- Steps:
Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:
$ source /opt/ros/${ROS_DISTRO}/setup.bash
Step2. Setup SUSI Node message:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash
Step3. Go to node.js SUSIControl node sample client path:
$ cd /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/rclnodejs_edge_data_client/
Step4. Config GPIO00, GPIO01, GPIO02 and GPIO03 as output pins:
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO00/Dir" "bv" false $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO01/Dir" "bv" false $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO02/Dir" "bv" false $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO03/Dir" "bv" false
Step5. Config GPIO04, GPIO05, GPIO06 and GPIO07 as input pins:
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO04/Dir" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO05/Dir" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO06/Dir" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO07/Dir" "bv" true
Step6. Set GPIO00, GPIO01, GPIO02 and GPIO03 output Level to 1 (Logical high):
After GPIO00, GPIO01, GPIO02 and GPIO03 are config to output pins, than you can set their Level to true (logical high) by "adv_susicontrol_set" command.
Note: Please do not set value to the pins GPIO04, GPIO05, GPIO06 and GPIO07 because these pins are configured as input pins, set value action is not allow.
$ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO00/Level" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO01/Level" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO02/Level" "bv" true $ node example_SetSensor.js "rclnodejs_SUSIControl_setter" "adv_susicontrol_set" "SUSIControl/GPIO/GPIO03/Level" "bv" true
Step7. Run node.js SUSIControl client:
$ node example_SubscribeSensor.js "rclnodejs_SUSIControl_subscriber" "/adv/susicontrol"
Step8. Verify received data:
You have entered arguments: node name: rclnodejs_SUSIControl_subscriber message topic: /adv/susicontrol ---------------------------------------------- Data: sensor = "SUSIControl/GPIO/GPIO00/Dir", v = 0.00 Data: sensor = "SUSIControl/GPIO/GPIO00/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO01/Dir", v = 0.00 Data: sensor = "SUSIControl/GPIO/GPIO01/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO02/Dir", v = 0.00 Data: sensor = "SUSIControl/GPIO/GPIO02/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO03/Dir", v = 0.00 Data: sensor = "SUSIControl/GPIO/GPIO03/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO04/Dir", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO04/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO05/Dir", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO05/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO06/Dir", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO06/Level", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO07/Dir", v = 1.00 Data: sensor = "SUSIControl/GPIO/GPIO07/Level", v = 1.00
Python
The program rclpy_edge_data_client is a Python client example for user to understand how to use rclpy to subscribe SUSIControl node's data. Please follow below steps to run the program, when the program launched, it will subscribe OPCUAClient node's sensor and print the data in the console screen.
Steps - Subscribe Sensor
Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:
$ source /opt/ros/${ROS_DISTRO}/setup.bash
Step2. Setup SUSI Node message:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash
Step3. Setup SUSIControl variables:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/install/local_setup.bash
Step4. Run Python SUSIControl sample client:
$ ros2 run rclpy_edge_data_client listener "rclcpp_SUSIControl_subscriber" "/adv/susicontrol"
Step5. Verify received data:
[INFO] [1668419166.970557368] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/Vcore", v = 1.13 [INFO] [1668419166.971275797] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/3.3V", v = 3.36 [INFO] [1668419166.971889153] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/5V", v = 5.22 [INFO] [1668419166.972484995] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/12V", v = 12.13 [INFO] [1668419166.973073717] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/5V Standby", v = 5.22 [INFO] [1668419166.973724029] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/CMOS Battery", v = 3.15 [INFO] [1668419166.974310688] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Voltage/VCC3", v = 3.34 [INFO] [1668419166.974895174] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Temperature/CPU", v = 43.20 [INFO] [1668419166.975476661] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Temperature/System", v = 36.50 [INFO] [1668419166.976056322] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Fan Speed/CPU", v = 0.00 [INFO] [1668419166.976637793] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Fan Speed/System", v = 2513.00 [INFO] [1668419166.977217676] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Hardware Monitor/Fan Speed/System 2", v = 2410.00 [INFO] [1668419166.977840176] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/DiskInfo/Disk C Total Disk Space", v = 60039.00 [INFO] [1668419166.978420960] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/DiskInfo/Disk C Free Disk Space", v = 1482.00 [INFO] [1668419166.979005895] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Platform Information/Board manufacturer", sv = "Advantech" [INFO] [1668419166.979585125] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Platform Information/Board name", sv = "AIMB-285" [INFO] [1668419166.980164289] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Platform Information/BIOS revision", sv = "V1.13" [INFO] [1668419166.980741273] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Platform Information/Driver version", sv = "4.0.14326" [INFO] [1668419166.981320076] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Platform Information/Library version", sv = "4.0.14326" [INFO] [1668419166.981936635] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO00/Dir", bv = False [INFO] [1668419166.982513742] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO00/Level", bv = False [INFO] [1668419166.983092131] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO04/Dir", bv = True [INFO] [1668419166.983668132] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO04/Level", bv = True [INFO] [1668419166.984246338] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO02/Dir", bv = True [INFO] [1668419166.984820603] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO02/Level", bv = True [INFO] [1668419166.985397629] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO01/Dir", bv = True [INFO] [1668419166.986005697] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO01/Level", bv = True [INFO] [1668419166.986585734] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO03/Dir", bv = True [INFO] [1668419166.987160259] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO03/Level", bv = True [INFO] [1668419166.987738015] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO05/Dir", bv = True [INFO] [1668419166.988313746] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO05/Level", bv = True [INFO] [1668419166.988890908] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO06/Dir", bv = True [INFO] [1668419166.989482096] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO06/Level", bv = True [INFO] [1668419166.990074224] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO07/Dir", bv = True [INFO] [1668419166.990648950] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/GPIO/GPIO07/Level", bv = True [INFO] [1668419166.991224271] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Backlight/Backlight 1/Brightness", v = 255.00 [INFO] [1668419166.991803378] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Backlight/Backlight 1/Frequency", v = 18780.00 [INFO] [1668419166.992393882] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/Backlight/Backlight 1/Polarity", bv = False [INFO] [1668419166.992984235] [rclpy_SUSIControl_subscriber]: Data: sensor = "SUSIControl/SUSIIoT Information/version", sv = "1.0.14327"
C++
The program rclcpp_edge_data_client is a C++ example for user to understand how to use rclcpp to subscribe SUSI node's data. Please follow below steps to run the program, when the program launched, it will subscribe SUSI node's sensor and print the data in the console screen.
Steps - Subscribe Sensor
Step1. Setup ROS2 environmant variables, replace ${ROS_DISTRO} with your ROS2 distribution (foxy, humble) to run this command:
$ source /opt/ros/${ROS_DISTRO}/setup.bash
Step2. Setup SUSI Node message:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/include/edge-converter-ros2/adv_msgs/install/local_setup.bash
Step3. Setup SUSIControl node variables:
$ source /usr/local/Advantech/ros/${ROS_DISTRO}/sample_code/edge-data-client/install/local_setup.bash
Step4. Run C++ SUSIControl sample client:
$ ros2 run rclcpp_edge_data_client listener "rclcpp_SUSIControl_subscriber" "/adv/susicontrol"
Step5. Verify received data:
[INFO] [1665992194.487803681] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/SUSIIoT Information/version', sv = '1.0.14327' [INFO] [1665992194.488662535] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/DiskInfo/Disk C Total Disk Space', v = 60039.00 [INFO] [1665992194.489943911] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/DiskInfo/Disk C Free Disk Space', v = 2282.00 [INFO] [1665992194.490802091] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Platform Information/Board manufacturer', sv = 'Advantech' [INFO] [1665992194.490963569] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Platform Information/Board name', sv = 'AIMB-285' [INFO] [1665992194.491036637] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Platform Information/BIOS revision', sv = 'V1.13' [INFO] [1665992194.491086609] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Platform Information/Driver version', sv = '4.0.14326' [INFO] [1665992194.491176944] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Platform Information/Library version', sv = '4.0.14326' [INFO] [1665992194.491815332] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/Vcore', v = 0.29 [INFO] [1665992194.492036608] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/3.3V', v = 3.36 [INFO] [1665992194.492213936] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/5V', v = 5.22 [INFO] [1665992194.492377116] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/12V', v = 12.18 [INFO] [1665992194.492529694] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/5V Standby', v = 5.22 [INFO] [1665992194.492846390] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/CMOS Battery', v = 3.15 [INFO] [1665992194.492928825] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Voltage/VCC3', v = 3.34 [INFO] [1665992194.493060224] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Fan Speed/CPU', v = 0.00 [INFO] [1665992194.493217407] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Fan Speed/System', v = 2556.00 [INFO] [1665992194.493377706] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Fan Speed/System 2', v = 2419.00 [INFO] [1665992194.493532012] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Temperature/CPU', v = 35.00 [INFO] [1665992194.493736784] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Hardware Monitor/Temperature/System', v = 32.50 [INFO] [1665992194.493923784] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO05/Dir', bv = true [INFO] [1665992194.494074865] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO05/Level', bv = true [INFO] [1665992194.494192822] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO00/Dir', bv = true [INFO] [1665992194.494377938] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO00/Level', bv = true [INFO] [1665992194.494536223] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO02/Dir', bv = true [INFO] [1665992194.494715595] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO02/Level', bv = true [INFO] [1665992194.494872167] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO01/Dir', bv = true [INFO] [1665992194.495035704] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO01/Level', bv = true [INFO] [1665992194.495239010] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO03/Dir', bv = true [INFO] [1665992194.495405399] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO03/Level', bv = true [INFO] [1665992194.495561419] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO04/Dir', bv = true [INFO] [1665992194.495740410] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO04/Level', bv = true [INFO] [1665992194.495901148] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO06/Dir', bv = true [INFO] [1665992194.496102220] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO06/Level', bv = true [INFO] [1665992194.496270253] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO07/Dir', bv = true [INFO] [1665992194.496458663] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/GPIO/GPIO07/Level', bv = true [INFO] [1665992194.496639251] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Backlight/Backlight 1/Brightness', v = 255.00 [INFO] [1665992194.496767970] [rclcpp_SUSIControl_subscriber]: Data: sensor = 'SUSIControl/Backlight/Backlight 1/Frequency', v = 18780.00 [INFO] [1665992194.496951618] [rclcpp_SUSIontrol_subscriber]: Data: sensor = 'SUSIControl/Backlight/Backlight 1/Polarity', bv = false