#include <CanDriver.h>

Classes
struct	Channel

struct	Filter

Public Member Functions
	CanDriver (ros::NodeHandle &nh, ros::NodeHandle &nh_priv, lusb::UsbDevice *dev=NULL, const std::string &name=std::string("Dataspeed USB CAN Tool"), const ModuleVersion &firmware=ModuleVersion(10, 4, 0))

	~CanDriver ()

Private Member Functions
void	recvDevice (unsigned int channel, uint32_t id, bool extended, uint8_t dlc, const uint8_t data[8])

void	recvRos (const can_msgs::Frame::ConstPtr &msg, unsigned int channel)

bool	sampleTimeOffset (ros::WallDuration &offset, ros::WallDuration &delay)

void	serviceDevice ()

ros::WallTime	stampDev2Ros (unsigned int dev_stamp)

void	timerFlushCallback (const ros::WallTimerEvent &event)

void	timerServiceCallback (const ros::WallTimerEvent &event)

Private Attributes
std::vector< Channel >	channels_

CanUsb *	dev_

bool	error_topic_

ModuleVersion	firmware_

std::string	mac_addr_

boost::mutex	mutex_

std::string	name_

ros::NodeHandle	nh_

ros::NodeHandle	nh_priv_

ros::Publisher	pub_version_

std::vector< ros::Publisher >	pubs_

std::vector< ros::Publisher >	pubs_err_

std::vector< ros::Subscriber >	subs_

bool	sync_time_

ros::WallTimer	timer_flush_

ros::WallTimer	timer_service_

uint32_t	total_drops_

Detailed Description

Definition at line 59 of file CanDriver.h.

Constructor & Destructor Documentation

dataspeed_can_usb::CanDriver::CanDriver	(	ros::NodeHandle &	nh,
		ros::NodeHandle &	nh_priv,
		lusb::UsbDevice *	dev = `NULL`,
		const std::string &	name = `std::string("Dataspeed USB CAN Tool")`,
		const ModuleVersion &	firmware = `ModuleVersion(10,4,0)`
	)

Definition at line 74 of file CanDriver.cpp.

dataspeed_can_usb::CanDriver::~CanDriver ( )

Definition at line 124 of file CanDriver.cpp.

Member Function Documentation

void dataspeed_can_usb::CanDriver::recvDevice	(	unsigned int	channel,
		uint32_t	id,
		bool	extended,
		uint8_t	dlc,
		const uint8_t	data[8]
	)

private

Definition at line 140 of file CanDriver.cpp.

void dataspeed_can_usb::CanDriver::recvRos	(	const can_msgs::Frame::ConstPtr &	msg,
		unsigned int	channel
	)

private

Definition at line 135 of file CanDriver.cpp.

bool dataspeed_can_usb::CanDriver::sampleTimeOffset	(	ros::WallDuration &	offset,
		ros::WallDuration &	delay
	)

private

Definition at line 160 of file CanDriver.cpp.

void dataspeed_can_usb::CanDriver::serviceDevice ( )

private

Definition at line 177 of file CanDriver.cpp.

ros::WallTime dataspeed_can_usb::CanDriver::stampDev2Ros ( unsigned int dev_stamp )

inlineprivate

Definition at line 75 of file CanDriver.h.

void dataspeed_can_usb::CanDriver::timerFlushCallback ( const ros::WallTimerEvent & event )

private

Definition at line 305 of file CanDriver.cpp.

void dataspeed_can_usb::CanDriver::timerServiceCallback ( const ros::WallTimerEvent & event )

private

Definition at line 300 of file CanDriver.cpp.

Member Data Documentation

std::vector<Channel> dataspeed_can_usb::CanDriver::channels_

private

Definition at line 97 of file CanDriver.h.

CanUsb* dataspeed_can_usb::CanDriver::dev_

private

Definition at line 104 of file CanDriver.h.

bool dataspeed_can_usb::CanDriver::error_topic_

private

Definition at line 85 of file CanDriver.h.

ModuleVersion dataspeed_can_usb::CanDriver::firmware_

private

Definition at line 124 of file CanDriver.h.

std::string dataspeed_can_usb::CanDriver::mac_addr_

private

Definition at line 86 of file CanDriver.h.

boost::mutex dataspeed_can_usb::CanDriver::mutex_

private

Definition at line 115 of file CanDriver.h.

std::string dataspeed_can_usb::CanDriver::name_

private

Definition at line 118 of file CanDriver.h.

ros::NodeHandle dataspeed_can_usb::CanDriver::nh_

private

Definition at line 80 of file CanDriver.h.

ros::NodeHandle dataspeed_can_usb::CanDriver::nh_priv_

private

Definition at line 81 of file CanDriver.h.

ros::Publisher dataspeed_can_usb::CanDriver::pub_version_

private

Definition at line 110 of file CanDriver.h.

std::vector<ros::Publisher> dataspeed_can_usb::CanDriver::pubs_

private

Definition at line 111 of file CanDriver.h.

std::vector<ros::Publisher> dataspeed_can_usb::CanDriver::pubs_err_

private

Definition at line 112 of file CanDriver.h.

std::vector<ros::Subscriber> dataspeed_can_usb::CanDriver::subs_

private

Definition at line 107 of file CanDriver.h.

bool dataspeed_can_usb::CanDriver::sync_time_

private

Definition at line 84 of file CanDriver.h.

ros::WallTimer dataspeed_can_usb::CanDriver::timer_flush_

private

Definition at line 101 of file CanDriver.h.

ros::WallTimer dataspeed_can_usb::CanDriver::timer_service_

private

Definition at line 100 of file CanDriver.h.

uint32_t dataspeed_can_usb::CanDriver::total_drops_

private

Definition at line 121 of file CanDriver.h.

The documentation for this class was generated from the following files:

Classes

Public Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation