pacmod3: pacmod3_ros_msg_handler.h Source File

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00001 #ifndef PACMOD3_ROS_MSG_HANDLER_H
00002 #define PACMOD3_ROS_MSG_HANDLER_H
00003 
00004 /*
00005 * Unpublished Copyright (c) 2009-2017 AutonomouStuff, LLC, All Rights Reserved.
00006 *
00007 * This file is part of the PACMod ROS 1.0 driver which is released under the MIT license.
00008 * See file LICENSE included with this software or go to https://opensource.org/licenses/MIT for full license details.
00009 */
00010 
00011 #include <pacmod3_common.h>
00012 
00013 namespace AS
00014 {
00015 namespace Drivers
00016 {
00017 namespace PACMod3
00018 {
00019   class LockedData
00020   {
00021     public:
00022       LockedData();
00023 
00024       std::vector<unsigned char> getData() const;
00025       void setData(std::vector<unsigned char> new_data);
00026 
00027     private:
00028       std::vector<unsigned char> _data;
00029       mutable std::mutex _data_mut;
00030   };
00031 
00032   class Pacmod3TxRosMsgHandler
00033   {
00034     public:
00035       void fillAndPublish(const int64_t& can_id,
00036                           std::string frame_id,
00037                           ros::Publisher& pub,
00038                           std::shared_ptr<Pacmod3TxMsg>& parser_class);
00039 
00040     private:
00041       void fillSystemRptBool(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::SystemRptBool& new_msg, std::string frame_id);
00042       void fillSystemRptInt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::SystemRptInt& new_msg, std::string frame_id);
00043       void fillSystemRptFloat(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::SystemRptFloat& new_msg, std::string frame_id);
00044       void fillGlobalRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::GlobalRpt& new_msg, std::string frame_id);
00045       void fillAccelAuxRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::AccelAuxRpt& new_msg, std::string frame_id);
00046       void fillBrakeAuxRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::BrakeAuxRpt& new_msg, std::string frame_id);
00047       void fillDateTimeRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::DateTimeRpt& new_msg, std::string frame_id);
00048       void fillDetectedObjectRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::DetectedObjectRpt& new_msg, std::string frame_id);
00049       void fillDoorRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::DoorRpt& new_msg, std::string frame_id);
00050       void fillHeadlightAuxRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::HeadlightAuxRpt& new_msg, std::string frame_id);
00051       void fillInteriorLightsRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::InteriorLightsRpt& new_msg, std::string frame_id);
00052       void fillLatLonHeadingRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::LatLonHeadingRpt& new_msg, std::string frame_id);
00053       void fillMotorRpt1(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::MotorRpt1& new_msg, std::string frame_id);
00054       void fillMotorRpt2(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::MotorRpt2& new_msg, std::string frame_id);
00055       void fillMotorRpt3(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::MotorRpt3& new_msg, std::string frame_id);
00056       void fillOccupancyRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::OccupancyRpt& new_msg, std::string frame_id);
00057       void fillRearLightsRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::RearLightsRpt& new_msg, std::string frame_id);
00058       void fillShiftAuxRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::ShiftAuxRpt& new_msg, std::string frame_id);
00059       void fillSteerAuxRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::SteerAuxRpt& new_msg, std::string frame_id);
00060       void fillSteeringPIDRpt1(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::SteeringPIDRpt1& new_msg, std::string frame_id);
00061       void fillSteeringPIDRpt2(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::SteeringPIDRpt2& new_msg, std::string frame_id);
00062       void fillSteeringPIDRpt3(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::SteeringPIDRpt3& new_msg, std::string frame_id);
00063       void fillSteeringPIDRpt4(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::SteeringPIDRpt4& new_msg, std::string frame_id);
00064       void fillTurnAuxRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::TurnAuxRpt& new_msg, std::string frame_id);
00065       void fillVehicleSpecificRpt1(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::VehicleSpecificRpt1& new_msg, std::string frame_id);
00066       void fillVehicleDynamicsRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::VehicleDynamicsRpt& new_msg, std::string frame_id);
00067       void fillVehicleSpeedRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::VehicleSpeedRpt& new_msg, std::string frame_id);
00068       void fillVinRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::VinRpt& new_msg, std::string frame_id);
00069       void fillWheelSpeedRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::WheelSpeedRpt& new_msg, std::string frame_id);
00070       void fillWiperAuxRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::WiperAuxRpt& new_msg, std::string frame_id);
00071       void fillYawRateRpt(std::shared_ptr<Pacmod3TxMsg>& parser_class, pacmod_msgs::YawRateRpt& new_msg, std::string frame_id);
00072   };
00073 
00074   class Pacmod3RxRosMsgHandler
00075   {
00076     public:
00077       static std::vector<uint8_t> unpackAndEncode(const int64_t& can_id, const pacmod_msgs::SystemCmdBool::ConstPtr& msg);
00078       static std::vector<uint8_t> unpackAndEncode(const int64_t& can_id, const pacmod_msgs::SystemCmdFloat::ConstPtr& msg);
00079       static std::vector<uint8_t> unpackAndEncode(const int64_t& can_id, const pacmod_msgs::SystemCmdInt::ConstPtr& msg);
00080       static std::vector<uint8_t> unpackAndEncode(const int64_t& can_id, const pacmod_msgs::SteerSystemCmd::ConstPtr& msg);
00081   };
00082 }
00083 }
00084 }
00085 
00086 #endif