00001 // this is for emacs file handling -*- mode: c++; indent-tabs-mode: nil -*- 00002 00003 // -- BEGIN LICENSE BLOCK ---------------------------------------------- 00004 // This file is part of FZIs ic_workspace. 00005 // 00006 // This program is free software licensed under the LGPL 00007 // (GNU LESSER GENERAL PUBLIC LICENSE Version 3). 00008 // You can find a copy of this license in LICENSE folder in the top 00009 // directory of the source code. 00010 // 00011 // © Copyright 2016 FZI Forschungszentrum Informatik, Karlsruhe, Germany 00012 // 00013 // -- END LICENSE BLOCK ------------------------------------------------ 00014 00015 //---------------------------------------------------------------------- 00022 //---------------------------------------------------------------------- 00023 #ifndef ICL_HARDWARE_CAN_FILTER_INTERPRET_MESSAGE_H_INCLUDED 00024 #define ICL_HARDWARE_CAN_FILTER_INTERPRET_MESSAGE_H_INCLUDED 00025 00026 #include <icl_hardware_can/filter/ImportExport.h> 00027 00028 #include <icl_sourcesink/DataSinkRegistration.h> 00029 #include <icl_hardware_can/sink/HardwareCanSink.h> 00030 #include <icl_sourcesink/DataFilter.h> 00031 #include <icl_hardware_can/tCanMessage.h> 00032 #include <icl_hardware_can/InterpretedCanMessage.h> 00033 #include <icl_hardware_can/tCanMatrixParser.h> 00034 00035 namespace icl_hardware { 00036 namespace can { 00037 00042 SOURCESINK_DECLARE_CONSOLE_SINK(InterpretedCanMessageSinkConsole, InterpretedCanMessages, "interpretedcan+console") 00043 00044 00045 00046 00047 class ICL_HARDWARE_CAN_FILTER_IMPORT_EXPORT HardwareCanFilterInterpretMessage : public icl_sourcesink::DataFilter<tCanMessage, InterpretedCanMessages> 00048 { 00049 public: 00051 typedef boost::shared_ptr<HardwareCanFilterInterpretMessage> Ptr; 00053 typedef boost::shared_ptr<const HardwareCanFilterInterpretMessage> ConstPtr; 00054 00055 static icl_sourcesink::URISchemeMap supportedURISchemes() 00056 { 00057 using namespace icl_sourcesink; 00058 URISchemeMap schemes; 00059 schemes.insert( 00060 std::make_pair( 00061 "can+interpreter", 00062 URISchemeInfo( 00063 "Converts tCanMessage to InterpretedCanMessage", 00064 "can+interpreter:[?can_mask=<can_mask>]", 00065 "<can_mask> Path to CAN mask file\n" 00066 " (default: from config option /icl_hardware_can/can_mask)"))); 00067 return schemes; 00068 } 00069 00071 HardwareCanFilterInterpretMessage(const std::string& uri = "HardwareCanFilterInterpretMessage", 00072 const std::string& name = "UnnamedHardwareCanFilterInterpretMessage"); 00073 00075 virtual ~HardwareCanFilterInterpretMessage(); 00076 00078 virtual bool filter(const icl_core::Stamped<tCanMessage>& input_data, 00079 icl_core::Stamped<InterpretedCanMessages>& output_data); 00080 00081 private: 00083 CanMatrix m_can_mask; 00084 }; 00085 00086 SOURCESINK_DECLARE_GENERIC_SINK_FACTORY(HardwareCanFilterInterpretMessage) 00087 00088 } 00089 } 00090 00091 #endif