pdu.cpp

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// Example block for PDU relay blocks.
// pdu_msgs::RelayCommand msg;
// msg.relay_1.value = pdu_msgs::RelayState::RELAY_ON;
// pdu1_relay_pub_.publish(msg);

#include <sstream>

#include "pdu.h"

namespace NewEagle
{
  pdu::pdu(ros::NodeHandle &node, ros::NodeHandle &priv_nh)
  {
    int32_t id;
    priv_nh.getParam("id", id);
    priv_nh.getParam("pdu_dbc_file", pduFile_);

    id_ = (uint32_t)id;

    relayCommandAddr_ = RELAY_COMMAND_BASE_ADDR + (id_ * 256);
    relayStatusAddr_ = RELAY_STATUS_BASE_ADDR + id_;
    fuseStatusAddr_ = FUSE_STATUS_BASE_ADDR + id_;

    // This should be a class, initialized with a unique CAN ID
    pduDbc_ = NewEagle::DbcBuilder().NewDbc(pduFile_);

    count_ = 0;
    // Set up Publishers
    pub_can_ = node.advertise<can_msgs::Frame>("can_tx", 10);

    relay_report_pub_ = node.advertise<pdu_msgs::RelayReport>("relay_report", 2);
    fuse_report_pub_ = node.advertise<pdu_msgs::FuseReport>("fuse_report", 2);

    // Set up Subscribers
    sub_can_ = node.subscribe("can_rx", 100, &pdu::recvCAN, this, ros::TransportHints().tcpNoDelay(true));

    sub_relay_cmd_ = node.subscribe("relay_cmd", 1, &pdu::recvRelayCmd, this, ros::TransportHints().tcpNoDelay(true));
  }

  void pdu::recvCAN(const can_msgs::Frame::ConstPtr& msg)
  {
    if (!msg->is_rtr && !msg->is_error && msg->is_extended)
    {
      if (msg->id == relayStatusAddr_)
      {
        ROS_INFO("Relay Status");

        NewEagle::DbcMessage* message = pduDbc_.GetMessage("RelayStatus");
        message->SetFrame(msg);

        pdu_msgs::RelayReport out;

        out.relay_1.value = message->GetSignal("Relay1")->GetResult();
        out.relay_2.value = message->GetSignal("Relay2")->GetResult();
        out.relay_3.value = message->GetSignal("Relay3")->GetResult();
        out.relay_4.value = message->GetSignal("Relay4")->GetResult();
        out.relay_5.value = message->GetSignal("Relay5")->GetResult();
        out.relay_6.value = message->GetSignal("Relay6")->GetResult();
        out.relay_7.value = message->GetSignal("Relay7")->GetResult();
        out.relay_8.value = message->GetSignal("Relay8")->GetResult();

        relay_report_pub_.publish(out);
      }
      else if (msg->id == fuseStatusAddr_)
      {
        ROS_INFO("Fuse Status");

        NewEagle::DbcMessage* message = pduDbc_.GetMessage("FuseStatus");
        message->SetFrame(msg);

        pdu_msgs::FuseReport out;

        out.fuse_1.value = message->GetSignal("Fuse1")->GetResult();
        out.fuse_2.value = message->GetSignal("Fuse2")->GetResult();
        out.fuse_3.value = message->GetSignal("Fuse3")->GetResult();
        out.fuse_4.value = message->GetSignal("Fuse4")->GetResult();
        out.fuse_5.value = message->GetSignal("Fuse5")->GetResult();
        out.fuse_6.value = message->GetSignal("Fuse6")->GetResult();
        out.fuse_7.value = message->GetSignal("Fuse7")->GetResult();
        out.fuse_8.value = message->GetSignal("Fuse8")->GetResult();
        out.fuse_9.value = message->GetSignal("Fuse9")->GetResult();
        out.fuse_10.value = message->GetSignal("Fuse10")->GetResult();
        out.fuse_11.value = message->GetSignal("Fuse11")->GetResult();
        out.fuse_12.value = message->GetSignal("Fuse12")->GetResult();
        out.fuse_13.value = message->GetSignal("Fuse13")->GetResult();
        out.fuse_14.value = message->GetSignal("Fuse14")->GetResult();
        out.fuse_15.value = message->GetSignal("Fuse15")->GetResult();
        out.fuse_16.value = message->GetSignal("Fuse16")->GetResult();

        fuse_report_pub_.publish(out);
      }
    }
  }

  void pdu::recvRelayCmd(const pdu_msgs::RelayCommand::ConstPtr& msg)
  {
    ROS_INFO("Relay Command");

    NewEagle::DbcMessage* message = pduDbc_.GetMessage("RelayCommand");

    message->GetSignal("MessageID")->SetResult(0x80); // Always 0x80
    message->GetSignal("GridAddress")->SetResult(0x00); // Always 0x00

    message->GetSignal("Relay1")->SetResult(msg->relay_1.value);
    message->GetSignal("Relay2")->SetResult(msg->relay_2.value);
    message->GetSignal("Relay3")->SetResult(msg->relay_3.value);
    message->GetSignal("Relay4")->SetResult(msg->relay_4.value);
    message->GetSignal("Relay5")->SetResult(msg->relay_5.value);
    message->GetSignal("Relay6")->SetResult(msg->relay_6.value);
    message->GetSignal("Relay7")->SetResult(msg->relay_7.value);
    message->GetSignal("Relay8")->SetResult(msg->relay_8.value);

    can_msgs::Frame frame = message->GetFrame();

    // DBC file has the base address.  Modify the ID to send to correct device
    frame.id = relayCommandAddr_;

    pub_can_.publish(frame);
  }
}