topic_to_socketcan_node.cpp
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00001 /*
00002  * Copyright (c) 2016, Ivor Wanders
00003  *
00004  * Redistribution and use in source and binary forms, with or without
00005  * modification, are permitted provided that the following conditions are met:
00006  *   * Redistributions of source code must retain the above copyright notice,
00007  *     this list of conditions and the following disclaimer.
00008  *   * Redistributions in binary form must reproduce the above copyright
00009  *     notice, this list of conditions and the following disclaimer in the
00010  *     documentation and/or other materials provided with the distribution.
00011  *   * Neither the name of the copyright holder nor the names of its
00012  *     contributors may be used to endorse or promote products derived from
00013  *     this software without specific prior written permission.
00014  *
00015  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00016  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00017  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00018  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00019  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00020  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00021  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00022  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00023  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00024  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00025  * POSSIBILITY OF SUCH DAMAGE.
00026  */
00027 
00028 #include <ros/ros.h>
00029 #include <socketcan_bridge/topic_to_socketcan.h>
00030 #include <socketcan_interface/threading.h>
00031 #include <socketcan_interface/string.h>
00032 #include <string>
00033 
00034 
00035 
00036 int main(int argc, char *argv[])
00037 {
00038   ros::init(argc, argv, "topic_to_socketcan_node");
00039 
00040   ros::NodeHandle nh(""), nh_param("~");
00041 
00042   std::string can_device;
00043   nh_param.param<std::string>("can_device", can_device, "can0");
00044 
00045   boost::shared_ptr<can::ThreadedSocketCANInterface> driver = boost::make_shared<can::ThreadedSocketCANInterface> ();
00046 
00047   if (!driver->init(can_device, 0))  // initialize device at can_device, 0 for no loopback.
00048   {
00049     ROS_FATAL("Failed to initialize can_device at %s", can_device.c_str());
00050     return 1;
00051   }
00052     else
00053   {
00054     ROS_INFO("Successfully connected to %s.", can_device.c_str());
00055   }
00056 
00057   socketcan_bridge::TopicToSocketCAN to_socketcan_bridge(&nh, &nh_param, driver);
00058   to_socketcan_bridge.setup();
00059 
00060   ros::spin();
00061 
00062   driver->shutdown();
00063   driver.reset();
00064 
00065   ros::waitForShutdown();
00066 }


socketcan_bridge
Author(s): Ivor Wanders
autogenerated on Sun Sep 3 2017 03:11:00