CanDriver.h

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#ifndef _DATASPEED_CAN_USB_CAN_DRIVER_H_
#define _DATASPEED_CAN_USB_CAN_DRIVER_H_

#include <ros/ros.h>

// ROS messages
#include <can_msgs/Frame.h>

// Mutex
#include <boost/thread/mutex.hpp>
#include <boost/thread/lock_guard.hpp>

// Module Version class
#include <dataspeed_can_usb/ModuleVersion.h>

namespace lusb
{
class UsbDevice;
}

namespace dataspeed_can_usb
{
class CanUsb;

class CanDriver
{
public:
  CanDriver(ros::NodeHandle &nh, ros::NodeHandle &nh_priv, lusb::UsbDevice *dev = NULL,
            const std::string &name = std::string("Dataspeed USB CAN Tool"),
            const ModuleVersion &firmware = ModuleVersion(10,4,0));
  ~CanDriver();

private:
  void timerServiceCallback(const ros::WallTimerEvent& event);
  void timerFlushCallback(const ros::WallTimerEvent& event);
  void recvRos(const can_msgs::Frame::ConstPtr& 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(ros::WallDuration &offset, ros::WallDuration &delay);
  inline ros::WallTime stampDev2Ros(unsigned int dev_stamp) {
    return ros::WallTime(dev_stamp / 1000000, (dev_stamp % 1000000) * 1000);
  }

  // NodeHandle
  ros::NodeHandle nh_;
  ros::NodeHandle nh_priv_;

  // Parameters
  bool sync_time_;
  bool error_topic_;
  std::string mac_addr_;
  struct Filter {
    uint32_t mask;
    uint32_t match;
  };
  struct Channel {
    Channel() : bitrate(0), mode(0) {}
    int bitrate;
    uint8_t mode;
    std::vector<Filter> filters;
  };
  std::vector<Channel> channels_;

  // Timers
  ros::WallTimer timer_service_;
  ros::WallTimer timer_flush_;

  // USB Device
  CanUsb *dev_;

  // Subscribed topics
  std::vector<ros::Subscriber> subs_;

  // Published topics
  ros::Publisher pub_version_;
  std::vector<ros::Publisher> pubs_;
  std::vector<ros::Publisher> pubs_err_;

  // Mutex for vector of publishers
  boost::mutex mutex_;

  // Name prefix for print statements
  std::string name_;

  // Number of total drops for status warnings
  uint32_t total_drops_;

  // Latest firmware version
  ModuleVersion firmware_;
};

} // namespace dataspeed_can_usb

#endif // _DATASPEED_CAN_USB_CAN_DRIVER_H_