Program Listing for File CanExtractor.h

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#ifndef CANEXTRACTOR_H_
#define CANEXTRACTOR_H_

// #include <ros/ros.h>
// #include <rclcpp.hpp>
#include <rclcpp/node.hpp>
#include <rclcpp/generic_publisher.hpp>
// #include <rosbag/bag.h>
#include <rosbag2_cpp/writer.hpp>
// #include <ros/package.h>

// Output message types
#include <std_msgs/msg/bool.hpp>
#include <std_msgs/msg/u_int8.hpp>
#include <std_msgs/msg/u_int16.hpp>
#include <std_msgs/msg/u_int32.hpp>
#include <std_msgs/msg/u_int64.hpp>
#include <std_msgs/msg/int8.hpp>
#include <std_msgs/msg/int16.hpp>
#include <std_msgs/msg/int32.hpp>
#include <std_msgs/msg/int64.hpp>
#include <std_msgs/msg/float64.hpp>

// Input message types
#include <can_msgs/msg/frame.hpp>
#include <dataspeed_can_msgs/msg/frame.hpp>
#include <dataspeed_can_msgs/msg/frame16.hpp>
#include <dataspeed_can_msgs/msg/frame32.hpp>
#include <dataspeed_can_msgs/msg/frame48.hpp>
#include <dataspeed_can_msgs/msg/frame64.hpp>

#include "DbcIterator.hpp"

namespace dataspeed_can_tools
{

typedef struct {
  std::shared_ptr<rclcpp::GenericPublisher> 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 {
  std::shared_ptr<rclcpp::GenericPublisher> 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, bool copy = true);
  CanExtractor(const std::vector<std::string> &dbc_file, bool offline, bool expand = true, bool unknown = false, bool copy = true);

  bool getMessage(RosCanMsgStruct& can_msg);
  void initPublishers(RosCanMsgStruct& info, rclcpp::Node& node);
  bool openBag(const std::string &fname);
  // bool closeBag();
  void pubMessage(const can_msgs::msg::Frame& msg, const rclcpp::Time &stamp = rclcpp::Time(0));
  void pubMessage(const dataspeed_can_msgs::msg::Frame& msg, const rclcpp::Time &stamp = rclcpp::Time(0));
  void pubMessage(const dataspeed_can_msgs::msg::Frame16& msg, const rclcpp::Time &stamp = rclcpp::Time(0));
  void pubMessage(const dataspeed_can_msgs::msg::Frame32& msg, const rclcpp::Time &stamp = rclcpp::Time(0));
  void pubMessage(const dataspeed_can_msgs::msg::Frame48& msg, const rclcpp::Time &stamp = rclcpp::Time(0));
  void pubMessage(const dataspeed_can_msgs::msg::Frame64& msg, const rclcpp::Time &stamp = rclcpp::Time(0));
  void pubMessage(const can_msgs::msg::Frame::ConstSharedPtr& msg, const rclcpp::Time &stamp = rclcpp::Time(0)) { pubMessage(*msg, stamp); }
  void pubMessage(const dataspeed_can_msgs::msg::Frame::ConstSharedPtr& msg, const rclcpp::Time &stamp = rclcpp::Time(0)) { pubMessage(*msg, stamp); }
  void pubMessage(const dataspeed_can_msgs::msg::Frame16::ConstSharedPtr& msg, const rclcpp::Time &stamp = rclcpp::Time(0)) { pubMessage(*msg, stamp); }
  void pubMessage(const dataspeed_can_msgs::msg::Frame32::ConstSharedPtr& msg, const rclcpp::Time &stamp = rclcpp::Time(0)) { pubMessage(*msg, stamp); }
  void pubMessage(const dataspeed_can_msgs::msg::Frame48::ConstSharedPtr& msg, const rclcpp::Time &stamp = rclcpp::Time(0)) { pubMessage(*msg, stamp); }
  void pubMessage(const dataspeed_can_msgs::msg::Frame64::ConstSharedPtr& msg, const rclcpp::Time &stamp = rclcpp::Time(0)) { pubMessage(*msg, stamp); }

private:
  template<class T>
  void writeToBag(const std::string& frame, const rclcpp::Time& stamp, const T& msg);
  template<class T>
  void pubCanSig(const RosCanMsgStruct& info, const T& sig_msg, const rclcpp::Time& stamp, size_t i);
  void pubCanMsgSignals(const RosCanMsgStruct &info, const std::vector<uint8_t>& buffer, const rclcpp::Time &stamp);
  void pubCanMsg(const RosCanMsgStruct& info, const can_msgs::msg::Frame& msg, const rclcpp::Time& stamp);
  void pubCanMsg(const RosCanMsgStruct& info, const dataspeed_can_msgs::msg::Frame& msg, const rclcpp::Time& stamp);
  void pubCanMsg(const RosCanMsgStruct& info, const dataspeed_can_msgs::msg::Frame16& msg, const rclcpp::Time& stamp);
  void pubCanMsg(const RosCanMsgStruct& info, const dataspeed_can_msgs::msg::Frame32& msg, const rclcpp::Time& stamp);
  void pubCanMsg(const RosCanMsgStruct& info, const dataspeed_can_msgs::msg::Frame48& msg, const rclcpp::Time& stamp);
  void pubCanMsg(const RosCanMsgStruct& info, const dataspeed_can_msgs::msg::Frame64& msg, const rclcpp::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, rclcpp::Node& node);

  DBCIterator dbc_;
  bool offline_;
  std::unique_ptr<rosbag2_cpp::Writer> bag_;

  bool bag_open_ = false;
  std::string bag_fname_;
  bool expand_;
  bool unknown_;
  bool copy_;

  std::map<uint32_t, RosCanMsgStruct> msgs_;
  std::map<uint32_t, int> unknown_msgs_;
};

} // dataspeed_can_tools

#endif /* CANEXTRACTOR_H_ */