pdu.h

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#ifndef NEWEAGLE_PDU_H_
#define NEWEAGLE_PDU_H_

#include <ros/ros.h>

// ROS messages
#include <can_msgs/Frame.h>
#include <pdu_msgs/FuseReport.h>
#include <pdu_msgs/RelayReport.h>
#include <pdu_msgs/RelayCommand.h>
#include <std_msgs/Empty.h>
#include <std_msgs/Bool.h>
#include <std_msgs/String.h>

#include <dbc/DbcMessage.h>
#include <dbc/DbcSignal.h>
#include <dbc/Dbc.h>
#include <dbc/DbcBuilder.h>

namespace NewEagle
{
  class pdu
  {
    enum {
      RELAY_STATUS_BASE_ADDR = 0x18ffa100,
      FUSE_STATUS_BASE_ADDR = 0x18ffa000,
      RELAY_COMMAND_BASE_ADDR = 0x18ef0000
    };

    public:
      pdu(ros::NodeHandle &node, ros::NodeHandle &priv_nh);

    private:
      uint32_t id_;
      uint32_t relayCommandAddr_;
      uint32_t relayStatusAddr_;
      uint32_t fuseStatusAddr_;

      uint32_t count_;

      NewEagle::Dbc pduDbc_;
      std::string pduFile_;

      void recvCAN(const can_msgs::Frame::ConstPtr& msg);
      void recvRelayCmd(const pdu_msgs::RelayCommand::ConstPtr& msg);

      // Subscribed topics
      ros::Subscriber sub_can_;
      ros::Subscriber sub_relay_cmd_;

      // Published topics
      ros::Publisher pub_can_;
      ros::Publisher fuse_report_pub_;
      ros::Publisher relay_report_pub_;
  };
}

#endif /* NEWEAGLE_PDU_H_ */