dbc_node.cpp

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#include <ros/ros.h>
#include <ros/package.h>
#include "CanExtractor.h"
#include <can_msgs/Frame.h>
 
ros::NodeHandle *nh_;
dataspeed_can_tools::CanExtractor* extractor_;
 
void recv(const can_msgs::Frame::ConstPtr& msg)
{
  if (!msg->is_error && !msg->is_rtr) {
    dataspeed_can_tools::RosCanMsgStruct info;
    info.id = msg->id | (msg->is_extended ? 0x80000000 : 0x00000000);
 
    if (extractor_->getMessage(info)) {
      ROS_DEBUG("New message ID (%d), initializing publishers...", info.id);
      extractor_->initPublishers(info, *nh_);
    }
 
    extractor_->pubMessage(msg);
  }
}
 
int main(int argc, char** argv)
{
  ros::init(argc, argv, "can_parser_node");
  ros::NodeHandle nh; nh_ = &nh;
  ros::NodeHandle nh_priv("~");
 
  std::vector<std::string> dbc_files;
  if (!nh_priv.getParam("dbc_files", dbc_files)) {
    ROS_FATAL("DBC file not specified. Exiting.");
  }
  bool expand;
  nh_priv.param("expand", expand, true);
  bool unknown;
  nh_priv.param("unknown", unknown, false);
 
  printf("Opening dbc files: \n");
  for (unsigned int i = 0; i < dbc_files.size(); i++) {
    printf("  - %s\n", dbc_files[i].c_str());
  }
  dataspeed_can_tools::CanExtractor extractor(dbc_files, false, expand, unknown);
  extractor_ = &extractor;
 
  ros::Subscriber sub_can = nh.subscribe("can_rx", 100, recv);
 
  ros::spin();
}