complete adc_can_nvidia_agx. add AdcChassis.msg. and add adc_chassis module, not complete.

src/ros2/src/adc_autoware_msgs/CMakeLists.txt

@@ -17,6 +17,7 @@ find_package(rosidl_default_generators REQUIRED)
 rosidl_generate_interfaces(${PROJECT_NAME}
   "msg/AdcCanFrame.msg"
   "msg/AdcCanMsgs.msg"
+  "msg/AdcChassis.msg"
   DEPENDENCIES std_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
 )
 

src/ros2/src/adc_autoware_msgs/msg/AdcChassis.msg

@@ -0,0 +1,27 @@
+
+std_msgs/Header header
+int32 epsmode
+int32 epbfault
+int32 drivemode
+int32 shift
+int32 aebavailable
+int32 cddavailable
+int32 angle_feedback
+float32 torque
+float32 vel
+float32 accstep
+float32 soc
+float32 brake_feedback
+int32 epb_feedback
+int32 emergencystop_feedback
+int32 brakelight_feedback
+float32 range_feedback
+int32 drivectrltype_feedback
+int32 brakectrltype_feedback
+int32 epsctrltype_feedback
+float32 frontleftwheel_feedback
+float32 frontrightwheel_feedback
+float32 rearleftwheel_feedback
+float32 rearrightwheel_feedback
+float32 engine_speed
+

src/ros2/src/adc_can_nvidia_agx/include/adc_can_nvidia_agx/basecan.h

@@ -1,7 +1,7 @@
 #ifndef BASECAN_H
 #define BASECAN_H
 
-
+#include <thread>
 
 class basecan_msg
 {
@@ -11,6 +11,7 @@ class basecan_msg
     bool isRemote;
     unsigned char nLen;
     unsigned char data[64];
+    int64_t nRecvTime;
 };
 
 class basecan

src/ros2/src/adc_can_nvidia_agx/include/adc_can_nvidia_agx/canctrl.h

@@ -51,8 +51,10 @@ private:
     bool mbthreadrun = true;
 
 public:
- //   void sendmsg(int index,iv::can::canmsg xmsg);
-    void sharecanmsg(void * xpa,basecan_msg * pxmsg,int ncount,int nch);
+
+    void sharecanmsg(rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pubcanrecv,basecan_msg * pxmsg,int ncount,int nch);
+
+    void sendmsg(int index,const adc_autoware_msgs::msg::AdcCanMsgs & xmsg);
 
 private:
     
@@ -62,6 +64,10 @@ private:
     rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr sub_msgs_cansend0;
     rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr sub_msgs_cansend1;
 
+private:
+    void testpubthread();
+    std::thread * mpthreadtest;
+
 
 };
 

src/ros2/src/adc_can_nvidia_agx/src/adc_can_nvidia_agx_core.cpp

@@ -94,10 +94,12 @@ void adc_can_nvidia_agx::timer_callback()
 void adc_can_nvidia_agx::topic_cansend0_callback(const adc_autoware_msgs::msg::AdcCanMsgs & xmsg) const
 {
     (void)xmsg;
+    mpcantrl->sendmsg(0,xmsg);
 }
 
 void adc_can_nvidia_agx::topic_cansend1_callback(const adc_autoware_msgs::msg::AdcCanMsgs & xmsg) const
 {
     (void)xmsg;
+    mpcantrl->sendmsg(1,xmsg);
 }
 

src/ros2/src/adc_can_nvidia_agx/src/canctrl.cpp

@@ -26,6 +26,9 @@ canctrl::canctrl(rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::Share
     mspcan.reset(mpcan);
  //   connect(mpcan,SIGNAL(SIG_CANOPENSTATE(bool,int,const char*)),this,SLOT(onCANState(bool,int,const char*)));
     mpcan->startdev();
+
+
+ //   mpthreadtest = new std::thread(&canctrl::testpubthread,this);
 }
 
 canctrl::~canctrl()
@@ -61,12 +64,14 @@ void canctrl::run()
             (void)nSend2;
             if((nRec1 =mpcan->GetMessage(0,xmsg,2500))>0)
             {
-                sharecanmsg(mparecv0,xmsg,nRec1,0);
+                sharecanmsg(pub_msgs_canrecv0,xmsg,nRec1,0);
+ //               sharecanmsg(mparecv0,xmsg,nRec1,0);
             }
 
             if((nRec2 =mpcan->GetMessage(1,xmsg,2500))>0)
             {
-                sharecanmsg(mparecv1,xmsg,nRec2,1);
+                sharecanmsg(pub_msgs_canrecv1,xmsg,nRec2,1);
+  //              sharecanmsg(mparecv1,xmsg,nRec2,1);
             }
 
 
@@ -121,11 +126,152 @@ void canctrl::onCANState(bool bCAN, int nR, const char *strres)
 }
 
 
-void canctrl::sharecanmsg(void *xpa, basecan_msg * pxmsg,int ncount,int nch)
+void canctrl::sharecanmsg(rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pubcanrecv,basecan_msg * pxmsg,int ncount,int nch)
 {
-    (void)xpa;
     (void)pxmsg;
     (void)ncount;
     (void)nch;
+
+    auto message = adc_autoware_msgs::msg::AdcCanMsgs();
+    message.header.frame_id = "adc";
+    int64_t now = std::chrono::system_clock::now().time_since_epoch().count();
+    message.header.stamp.sec = now/1000000000;
+    message.header.stamp.nanosec = now - message.header.stamp.sec * 1e9;
+    int i;
+    for(i=0;i<ncount;i++)
+    {
+        auto frame1 = adc_autoware_msgs::msg::AdcCanFrame();
+        frame1.header.frame_id = "adc";
+        frame1.header.stamp.sec = pxmsg[i].nRecvTime/1000000000;
+        frame1.header.stamp.nanosec = pxmsg[i].nRecvTime - message.header.stamp.sec * 1e9;
+        frame1.id = pxmsg[i].id;
+        frame1.dlc = pxmsg[i].nLen;
+        frame1.is_rtr = pxmsg[i].isExtern;
+        frame1.is_extended = pxmsg[i].isRemote;
+        frame1.is_error = false;
+        if(pxmsg[i].nLen<=64)
+        {
+            if(pxmsg[i].nLen>0)memcpy(frame1.data.data(),pxmsg[i].data,pxmsg[i].nLen);
+        }
+        else
+        {
+            std::cout<<" convert canmsg to ros2 message fail, because data len more than 64. len:"<<pxmsg[i].nLen<<std::endl;
+        }
+    }
+
+    pubcanrecv->publish(message);
+}
+
+void canctrl::testpubthread()
+{
+    while(mbthreadrun)
+    {
+        auto message = adc_autoware_msgs::msg::AdcCanMsgs();
+        message.header.frame_id = "adc";
+        int64_t now = std::chrono::system_clock::now().time_since_epoch().count();
+        message.header.stamp.sec = now/1000000000;
+        message.header.stamp.nanosec = now - message.header.stamp.sec * 1e9;
+
+        auto frame1 = adc_autoware_msgs::msg::AdcCanFrame();
+        frame1.header.frame_id = "adc";
+        now = std::chrono::system_clock::now().time_since_epoch().count();
+        frame1.header.stamp.sec = now/1000000000;
+        frame1.header.stamp.nanosec = now - message.header.stamp.sec * 1e9;
+        frame1.id = 0x123;
+        frame1.dlc = 8;
+        frame1.is_rtr = false;
+        frame1.is_extended = false;
+        frame1.is_error = false;
+        frame1.data[0] = 0x01;
+        unsigned char strdata[8];
+        strdata[0] = 0x11;
+        strdata[1] = 0x22;
+        strdata[2] = 0x33;
+        strdata[3] = 0x44;
+        strdata[4] = 0x55;
+        strdata[5] = 0x66;
+        strdata[6] = 0x77;
+        strdata[7] = 0x88;
+        memcpy(frame1.data.data(),strdata,8);
+
+        auto frame2 = adc_autoware_msgs::msg::AdcCanFrame();
+        frame2.header.frame_id = "adc";
+        now = std::chrono::system_clock::now().time_since_epoch().count();
+        frame2.header.stamp.sec = now/1000000000;
+        frame2.header.stamp.nanosec = now - message.header.stamp.sec * 1e9;
+        frame2.id = 0x126;
+        frame2.dlc = 8;
+        frame2.is_rtr = false;
+        frame2.is_extended = false;
+        frame2.is_error = false;
+        frame2.data[0]= 0x02;
+
+        message.frames.push_back(frame1);
+        message.frames.push_back(frame2);
+
+        pub_msgs_canrecv0->publish(message);
+
+
+        std::this_thread::sleep_for(std::chrono::milliseconds(1000));
+    }
+}
+
+void canctrl::sendmsg(int index,const adc_autoware_msgs::msg::AdcCanMsgs & xmsg)
+{
+    if((index <0)||(index > 1))
+    {
+        std::cout<<"canctrl::sendmsg index error. index: "<<index<<std::endl;
+        return;
+    }
+
+    std::vector<basecan_msg> * psendmsgvector;
+    QMutex * pMutex;
+    if(index == 0)
+    {
+        pMutex = &mMutexcan1;
+        psendmsgvector = &msendmsgvector1;
+    }
+    if(index == 1)
+    {
+        pMutex = &mMutexcan2;
+        psendmsgvector = &msendmsgvector2;
+    }
+
+    if(static_cast<int>( psendmsgvector->size()) > SENDMSGBUFSIZE)
+    {
+        std::cout<<"sendmsg buf full."<<std::endl;
+        return;
+    }
+
+
+    pMutex->lock();
+    if(psendmsgvector->size() > 1000)psendmsgvector->clear();
+    int i;
+    int ncount = static_cast<int>(xmsg.frames.size());
+    for(i=0;i<ncount;i++)
+    {
+        basecan_msg sendmsg;
+        auto frame = xmsg.frames[i];
+        sendmsg.id = frame.id;
+        sendmsg.isExtern = frame.is_extended;
+        sendmsg.isRemote = frame.is_rtr;
+        int nlen = frame.dlc;
+
+        if((nlen < 0) || (nlen > 64))
+        {
+            nlen = 0;
+            std::cout<<"sendmsg nlen err; len:"<<nlen<<std::endl;
+            continue;
+ //           mpcan->mfault->SetFaultState(1, 0, "sendmsg nlen err");
+        }
+        sendmsg.nLen = nlen;
+        if(sendmsg.nLen > 0)
+        {
+            memcpy(sendmsg.data,frame.data.data(),sendmsg.nLen);
+        }
+
+        psendmsgvector->push_back(sendmsg);
+    }
+    pMutex->unlock();
 }
 

src/ros2/src/adc_can_nvidia_agx/src/nvcan.cpp

@@ -189,6 +189,7 @@ void nvcan::run()
                 if((frame.can_id&0x40000000)!= 0)msg.isRemote = true;
                 else msg.isRemote = false;
                 msg.nLen = frame.len;
+                msg.nRecvTime = std::chrono::system_clock::now().time_since_epoch().count();
 //                if(msg.id == 0x1c2)qDebug("id = %08x",msg.id);
                 if((frame.len<=64)&&(frame.len>0))memcpy(msg.data,frame.data,frame.len);
                 if(mMsgRecvBuf[i].size()<BUF_SIZE)

src/ros2/src/adc_chassis/CMakeLists.txt

@@ -0,0 +1,53 @@
+cmake_minimum_required(VERSION 3.8)
+project(adc_chassis)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(adc_autoware_msgs REQUIRED)
+
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+
+include_directories(
+##  INCLUDE_DIRS include
+  ${CMAKE_CURRENT_BINARY_DIR}/..
+  ${catkin_INCLUDE_DIRS} include
+)
+
+include_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/../include
+  ${CMAKE_CURRENT_SOURCE_DIR}/../include/adc_chassis
+)
+link_directories(
+  ${CMAKE_CURRENT_SOURCE_DIR}/../lib
+)
+
+
+add_executable(${PROJECT_NAME}
+  src/adc_chassis_node.cpp
+)
+
+ament_target_dependencies(${PROJECT_NAME} rclcpp std_msgs 
+  adc_autoware_msgs)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  # the following line skips the linter which checks for copyrights
+  # comment the line when a copyright and license is added to all source files
+  set(ament_cmake_copyright_FOUND TRUE)
+  # the following line skips cpplint (only works in a git repo)
+  # comment the line when this package is in a git repo and when
+  # a copyright and license is added to all source files
+  set(ament_cmake_cpplint_FOUND TRUE)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+ament_package()

src/ros2/src/adc_chassis/LICENSE

@@ -0,0 +1,202 @@
+
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+
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src/ros2/src/adc_chassis/package.xml

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>adc_chassis</name>
+  <version>0.0.0</version>
+  <description>TODO: Package description</description>
+  <maintainer email="yuchuli@catarc.ac.cn">yuchuli</maintainer>
+  <license>Apache-2.0</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <depend>rclcpp</depend>
+  <depend>adc_autoware_msgs</depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/ros2/src/adc_chassis/src/adc_chassis_node.cpp

@@ -0,0 +1,15 @@
+
+
+#include <rclcpp/rclcpp.hpp>
+
+#include <memory>
+
+int main(int argc, char ** argv)
+{
+  rclcpp::init(argc, argv);
+
+//  rclcpp::spin(std::make_shared<adc_can_nvidia_agx>());
+  rclcpp::shutdown();
+
+  return 0;
+}