CanExtractor.h

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#ifndef CANEXTRACTOR_H_
#define CANEXTRACTOR_H_
 
#include <ros/ros.h>
#include <rosbag/bag.h>
#include <ros/package.h>
 
#include <std_msgs/Bool.h>
#include <std_msgs/UInt8.h>
#include <std_msgs/UInt16.h>
#include <std_msgs/UInt32.h>
#include <std_msgs/UInt64.h>
#include <std_msgs/Int8.h>
#include <std_msgs/Int16.h>
#include <std_msgs/Int32.h>
#include <std_msgs/Int64.h>
#include <std_msgs/Float64.h>
 
#include <can_msgs/Frame.h>
#include <dataspeed_can_msgs/Frame.h>
#include "DbcIterator.hpp"
 
namespace dataspeed_can_tools
{
 
typedef struct {
  ros::Publisher sig_pub;
  double factor;
  int length;
  double maximum;
  double minimum;
  std::string sig_name;
  double offset;
  ByteOrder order;
  Sign sign;
  int start_bit;
  Multiplexor multiplexor;
  unsigned short multiplexNum;
} RosCanSigStruct;
 
typedef struct {
  ros::Publisher message_pub;
  std::string msg_name;
  uint32_t id;
  std::vector<RosCanSigStruct> sigs;
} RosCanMsgStruct;
 
class CanExtractor {
public:
  CanExtractor(const std::string &dbc_file, bool offline, bool expand = true, bool unknown = false);
  CanExtractor(const std::vector<std::string> &dbc_file, bool offline, bool expand = true, bool unknown = false);
 
  bool getMessage(RosCanMsgStruct& can_msg);
  void initPublishers(RosCanMsgStruct& info, ros::NodeHandle& nh);
  bool openBag(const std::string &fname, rosbag::compression::CompressionType compression = rosbag::compression::Uncompressed);
  bool closeBag();
  void pubMessage(const can_msgs::Frame& msg, const ros::Time &stamp = ros::Time(0));
  void pubMessage(const dataspeed_can_msgs::Frame& msg, const ros::Time &stamp = ros::Time(0));
  void pubMessage(const can_msgs::Frame::ConstPtr& msg, const ros::Time &stamp = ros::Time(0)) { pubMessage(*msg, stamp); }
  void pubMessage(const dataspeed_can_msgs::Frame::ConstPtr& msg, const ros::Time &stamp = ros::Time(0)) { pubMessage(*msg, stamp); }
 
private:
  template<class T>
  void writeToBag(const std::string& frame, const ros::Time& stamp, const T& msg);
  template<class T>
  void pubCanSig(const RosCanMsgStruct& info, const T& sig_msg, const ros::Time& stamp, size_t i);
  void pubCanMsgSignals(const RosCanMsgStruct &info, const std::vector<uint8_t>& buffer, const ros::Time &stamp);
  void pubCanMsg(const RosCanMsgStruct& info, const can_msgs::Frame& msg, const ros::Time& stamp);
  void pubCanMsg(const RosCanMsgStruct& info, const dataspeed_can_msgs::Frame& msg, const ros::Time& stamp);
  static uint64_t unsignedSignalData(const std::vector<uint8_t> &buffer, const RosCanSigStruct& sig_props);
  static int64_t signedSignalData(const std::vector<uint8_t> &buffer, const RosCanSigStruct& sig_props);
  template<class T>
  static T buildMsg(const RosCanSigStruct& info, const std::vector<uint8_t> &buffer, bool sign);
  static int getAppropriateSize(const RosCanSigStruct& sig_props, bool output_signed);
  static void registerCanSignalPublisher(RosCanSigStruct& info, ros::NodeHandle& nh);
 
  DBCIterator dbc_;
  rosbag::Bag bag_;
  bool bag_open_;
  std::string bag_fname_;
  bool offline_;
  bool expand_;
  bool unknown_;
 
  std::map<uint32_t, RosCanMsgStruct> msgs_;
  std::map<uint32_t, int> unknown_msgs_;
};
 
} // dataspeed_can_tools
 
#endif /* CANEXTRACTOR_H_ */