pdu.h
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00034  
00035 #ifndef NEWEAGLE_PDU_H_
00036 #define NEWEAGLE_PDU_H_
00037 
00038 #include <ros/ros.h>
00039 
00040 // ROS messages
00041 #include <can_msgs/Frame.h>
00042 #include <pdu_msgs/FuseReport.h>
00043 #include <pdu_msgs/RelayReport.h>
00044 #include <pdu_msgs/RelayCommand.h>
00045 #include <std_msgs/Empty.h>
00046 #include <std_msgs/Bool.h>
00047 #include <std_msgs/String.h>
00048 
00049 #include <dbc/DbcMessage.h>
00050 #include <dbc/DbcSignal.h>
00051 #include <dbc/Dbc.h>
00052 #include <dbc/DbcBuilder.h>
00053 
00054 namespace NewEagle
00055 {
00056   class pdu
00057   {
00058     enum {
00059       RELAY_STATUS_BASE_ADDR = 0x18ffa100,
00060       FUSE_STATUS_BASE_ADDR = 0x18ffa000,
00061       RELAY_COMMAND_BASE_ADDR = 0x18ef0000
00062     };
00063 
00064     public:
00065       pdu(ros::NodeHandle &node, ros::NodeHandle &priv_nh);
00066 
00067     private:
00068       uint32_t id_;
00069       uint32_t relayCommandAddr_;
00070       uint32_t relayStatusAddr_;
00071       uint32_t fuseStatusAddr_;
00072 
00073       uint32_t count_;
00074 
00075       NewEagle::Dbc pduDbc_;
00076       std::string pduFile_;
00077 
00078       void recvCAN(const can_msgs::Frame::ConstPtr& msg);
00079       void recvRelayCmd(const pdu_msgs::RelayCommand::ConstPtr& msg);
00080 
00081       // Subscribed topics
00082       ros::Subscriber sub_can_;
00083       ros::Subscriber sub_relay_cmd_;
00084 
00085       // Published topics
00086       ros::Publisher pub_can_;
00087       ros::Publisher fuse_report_pub_;
00088       ros::Publisher relay_report_pub_;
00089   };
00090 }
00091 
00092 #endif /* NEWEAGLE_PDU_H_ */


pdu
Author(s): Ryan Borchert , Ryan Borchert
autogenerated on Mon Jun 24 2019 19:18:36