topic_to_socketcan.h
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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 #ifndef SOCKETCAN_BRIDGE_TOPIC_TO_SOCKETCAN_H
00029 #define SOCKETCAN_BRIDGE_TOPIC_TO_SOCKETCAN_H
00030 
00031 #include <socketcan_interface/socketcan.h>
00032 #include <can_msgs/Frame.h>
00033 #include <ros/ros.h>
00034 
00035 namespace socketcan_bridge
00036 {
00037 class TopicToSocketCAN
00038 {
00039   public:
00040     TopicToSocketCAN(ros::NodeHandle* nh, ros::NodeHandle* nh_param, boost::shared_ptr<can::DriverInterface> driver);
00041     void setup();
00042 
00043   private:
00044     ros::Subscriber can_topic_;
00045     boost::shared_ptr<can::DriverInterface> driver_;
00046 
00047     can::StateInterface::StateListener::Ptr state_listener_;
00048 
00049     void msgCallback(const can_msgs::Frame::ConstPtr& msg);
00050     void stateCallback(const can::State & s);
00051 };
00052 
00053 void convertMessageToSocketCAN(const can_msgs::Frame& m, can::Frame& f)
00054 {
00055   f.id = m.id;
00056   f.dlc = m.dlc;
00057   f.is_error = m.is_error;
00058   f.is_rtr = m.is_rtr;
00059   f.is_extended = m.is_extended;
00060 
00061   for (int i = 0; i < 8; i++)  // always copy all data, regardless of dlc.
00062   {
00063     f.data[i] = m.data[i];
00064   }
00065 };
00066 
00067 };  // namespace socketcan_bridge
00068 
00069 
00070 #endif  // SOCKETCAN_BRIDGE_TOPIC_TO_SOCKETCAN_H


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