dbc_node.cpp

Go to the documentation of this file.

/*********************************************************************
 * Software License Agreement (BSD License)
 *
 *  Copyright (c) 2015-2018, Dataspeed Inc.
 *  All rights reserved.
 *
 *  Redistribution and use in source and binary forms, with or without
 *  modification, are permitted provided that the following conditions
 *  are met:
 *
 *   * Redistributions of source code must retain the above copyright
 *     notice, this list of conditions and the following disclaimer.
 *   * Redistributions in binary form must reproduce the above
 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
 *     with the distribution.
 *   * Neither the name of Dataspeed Inc. nor the names of its
 *     contributors may be used to endorse or promote products derived
 *     from this software without specific prior written permission.
 *
 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
 *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
 *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 *  POSSIBILITY OF SUCH DAMAGE.
 *********************************************************************/

#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();
}