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Chapter 4. Implementation 48

Currently, only the gateways MiniCtrl and WiﬁCtrl are supported, but more gateways can be

added because the software provides a template class. Figure 4.11 shows gateway driver with its

interfaces.

gateway driver

serial

tcp

connect refresh

protocol output

other output

raw output

raw input

protocol input

publisher

service

other

subscriber

Figure 4.11.: The gateway driver with its ROS interfaces.

The gateway driver can be either connected via serial or TCP interface to the gateway. They cannot

be used simultaneously, but the user can change and switch between them during runtime. The

serial interface is supported by MiniCtrl and WiﬁCtrl, while TCP is used for connecting to the WIFI

module on the WiﬁCtrl. There are three diﬀerent ways to choose the connection parameters: per

default, by parameter server or starting the node with command line parameters. The command

line parameters have highest priority. If the node is started without passing arguments to it, it

is checked for compatible parameters on the parameter server and if these are present, they are

loaded into the node, which then tries to connect to the given interface. If these parameters do

not exist on the server, or if they are faulty, the module will connect over serial with 115 200 baud

by default. However, there are other methods that enable subsequent connecting, if the initial

connecting failed or the link is terminated during operation. The ﬁrst one is the "connect"-service,

which allows reconnecting as well as a connection change. The second one is the "refresh"-service,

which reloads the parameters from the parameter server and applies them. The current connection

state can be referred to the parameter server.

In addition to those two services, the gateway driver oﬀers various publishers and subscribers for

data exchange:

Protocol output: Every time the gateway receives a message from a HA device, it is sent to

the gateway driver, where it is processed, separated into protocol type and data and ﬁnally

published.

Protocol input: The protocol input is the opposite part of protocol output for the other direction.

When data is received via ROS, it is converted into a serial string and sent back to the

gateway. For example, a received message of "protocol type: IT; data: 000AA8" would be

delivered to the gateway as "send it 0x000AA8".

Other output: Outputs all serial data other than protocol messages. This data can, for example,

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RFXCOM RFXtrx433 Especificaciones Pagina 55