Program Listing for File CanDriver.hpp

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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