.. _program_listing_file__tmp_ws_src_dataspeed_can_dataspeed_can_usb_include_dataspeed_can_usb_CanDriver.hpp:

Program Listing for File CanDriver.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_dataspeed_can_dataspeed_can_usb_include_dataspeed_can_usb_CanDriver.hpp>` (``/tmp/ws/src/dataspeed_can/dataspeed_can_usb/include/dataspeed_can_usb/CanDriver.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*********************************************************************
    * Software License Agreement (BSD License)
    *
    *  Copyright (c) 2015-2021, Dataspeed Inc.
    *  All rights reserved.
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    *   * Redistributions in binary form must reproduce the above
    *     copyright notice, this list of conditions and the following
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    *     contributors may be used to endorse or promote products derived
    *     from this software without specific prior written permission.
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    *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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    *********************************************************************/
   
   #pragma once
   
   #include <rclcpp/rclcpp.hpp>
   
   // ROS messages
   #include <can_msgs/msg/frame.hpp>
   #include <std_msgs/msg/string.hpp> // Deprecated (ros >= foxy)
   
   // Mutex
   #include <mutex>
   
   // Module Version class
   #include <dataspeed_can_usb/ModuleVersion.hpp>
   
   namespace lusb {
   class UsbDevice;
   }
   
   namespace dataspeed_can_usb {
   
   static constexpr ModuleVersion kFirmwareVersion(10, 4, 0);
   
   class CanUsb;
   class CanDriver : public rclcpp::Node {
   public:
     CanDriver(const rclcpp::NodeOptions &options);
     ~CanDriver();
   
   private:
     void timerServiceCallback();
     void timerFlushCallback();
     void recvRos(const can_msgs::msg::Frame::ConstSharedPtr msg, unsigned int channel);
     void recvDevice(unsigned int channel, uint32_t id, bool extended, uint8_t dlc, const uint8_t data[8]);
     void serviceDevice();
     bool sampleTimeOffset(rclcpp::Duration &offset, rclcpp::Duration &delay);
   
     // Parameters
     bool sync_time_;
     bool error_topic_;
     std::string mac_addr_;
     struct Filter {
       uint32_t mask;
       uint32_t match;
     };
     struct Channel {
       int bitrate = 0;
       uint8_t mode = 0;
       std::vector<Filter> filters;
     };
     std::vector<Channel> channels_;
   
     // Timers
     rclcpp::TimerBase::SharedPtr timer_service_;
     rclcpp::TimerBase::SharedPtr timer_flush_;
   
     // USB Device
     CanUsb *dev_;
   
     // Subscribed topics
     std::vector<rclcpp::Subscription<can_msgs::msg::Frame>::SharedPtr> subs_;
   
     // Published topics
     rclcpp::Publisher<std_msgs::msg::String>::SharedPtr pub_version_;
     std::vector<rclcpp::Publisher<can_msgs::msg::Frame>::SharedPtr> pubs_;
     std::vector<rclcpp::Publisher<can_msgs::msg::Frame>::SharedPtr> pubs_err_;
   
     // Mutex for vector of publishers
     std::mutex mutex_;
   
     // Name prefix for print statements
     std::string name_;
   
     // Number of total drops for status warnings
     uint32_t total_drops_ = 0;
   
     // Latest firmware version
     ModuleVersion firmware_ = kFirmwareVersion;
   };
   
   } // namespace dataspeed_can_usb