dataspeed_can_usb::CanDriver Class Reference

#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

CanDriver()

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 106 of file CanDriver.cpp.

~CanDriver()

dataspeed_can_usb::CanDriver::~CanDriver

(

)

Definition at line 156 of file CanDriver.cpp.

Member Function Documentation

recvDevice()

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 172 of file CanDriver.cpp.

recvRos()

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

private

Definition at line 167 of file CanDriver.cpp.

sampleTimeOffset()

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

private

Definition at line 192 of file CanDriver.cpp.

serviceDevice()

void dataspeed_can_usb::CanDriver::serviceDevice ( )

private

Definition at line 209 of file CanDriver.cpp.

stampDev2Ros()

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

inlineprivate

Definition at line 75 of file CanDriver.h.

timerFlushCallback()

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

private

Definition at line 337 of file CanDriver.cpp.

timerServiceCallback()

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

private

Definition at line 332 of file CanDriver.cpp.

Member Data Documentation

channels_

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

private

Definition at line 97 of file CanDriver.h.

dev_

CanUsb* dataspeed_can_usb::CanDriver::dev_

private

Definition at line 104 of file CanDriver.h.

error_topic_

bool dataspeed_can_usb::CanDriver::error_topic_

private

Definition at line 85 of file CanDriver.h.

firmware_

ModuleVersion dataspeed_can_usb::CanDriver::firmware_

private

Definition at line 124 of file CanDriver.h.

mac_addr_

std::string dataspeed_can_usb::CanDriver::mac_addr_

private

Definition at line 86 of file CanDriver.h.

mutex_

boost::mutex dataspeed_can_usb::CanDriver::mutex_

private

Definition at line 115 of file CanDriver.h.

name_

std::string dataspeed_can_usb::CanDriver::name_

private

Definition at line 118 of file CanDriver.h.

nh_

ros::NodeHandle dataspeed_can_usb::CanDriver::nh_

private

Definition at line 80 of file CanDriver.h.

nh_priv_

ros::NodeHandle dataspeed_can_usb::CanDriver::nh_priv_

private

Definition at line 81 of file CanDriver.h.

pub_version_

ros::Publisher dataspeed_can_usb::CanDriver::pub_version_

private

Definition at line 110 of file CanDriver.h.

pubs_

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

private

Definition at line 111 of file CanDriver.h.

pubs_err_

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

private

Definition at line 112 of file CanDriver.h.

subs_

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

private

Definition at line 107 of file CanDriver.h.

sync_time_

bool dataspeed_can_usb::CanDriver::sync_time_

private

Definition at line 84 of file CanDriver.h.

timer_flush_

ros::WallTimer dataspeed_can_usb::CanDriver::timer_flush_

private

Definition at line 101 of file CanDriver.h.

timer_service_

ros::WallTimer dataspeed_can_usb::CanDriver::timer_service_

private

Definition at line 100 of file CanDriver.h.

total_drops_

uint32_t dataspeed_can_usb::CanDriver::total_drops_

private

Definition at line 121 of file CanDriver.h.

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

• CanDriver.h
• CanDriver.cpp