socketcan_to_topic.h

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/*
 * Copyright (c) 2016, Ivor Wanders
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *   * Redistributions of source code must retain the above copyright notice,
 *     this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above copyright
 *     notice, this list of conditions and the following disclaimer in the
 *     documentation and/or other materials provided with the distribution.
 *   * Neither the name of the copyright holder nor the names of its
 *     contributors may be used to endorse or promote products derived from
 *     this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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 */

#ifndef SOCKETCAN_BRIDGE_SOCKETCAN_TO_TOPIC_H
#define SOCKETCAN_BRIDGE_SOCKETCAN_TO_TOPIC_H

#include <socketcan_interface/socketcan.h>
#include <socketcan_interface/filter.h>
#include <can_msgs/Frame.h>
#include <ros/ros.h>

namespace socketcan_bridge
{
class SocketCANToTopic
{
  public:
    SocketCANToTopic(ros::NodeHandle* nh, ros::NodeHandle* nh_param, can::DriverInterfaceSharedPtr driver);
    void setup();
    void setup(const can::FilteredFrameListener::FilterVector &filters);
    void setup(XmlRpc::XmlRpcValue filters);
    void setup(ros::NodeHandle nh);

  private:
    ros::Publisher can_topic_;
    can::DriverInterfaceSharedPtr driver_;

    can::FrameListenerConstSharedPtr frame_listener_;
    can::StateListenerConstSharedPtr state_listener_;


    void frameCallback(const can::Frame& f);
    void stateCallback(const can::State & s);
};

void convertSocketCANToMessage(const can::Frame& f, can_msgs::Frame& m)
{
  m.id = f.id;
  m.dlc = f.dlc;
  m.is_error = f.is_error;
  m.is_rtr = f.is_rtr;
  m.is_extended = f.is_extended;

  for (int i = 0; i < 8; i++)  // always copy all data, regardless of dlc.
  {
    m.data[i] = f.data[i];
  }
};

};  // namespace socketcan_bridge


#endif  // SOCKETCAN_BRIDGE_SOCKETCAN_TO_TOPIC_H