add adc_autowre_msgs. change adc_can_nvidia_agx, not complete.

src/ros2/src/adc_autoware_msgs/CMakeLists.txt

@@ -0,0 +1,35 @@
+cmake_minimum_required(VERSION 3.8)
+project(adc_autoware_msgs)
+
+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)
+# uncomment the following section in order to fill in
+# further dependencies manually.
+# find_package(<dependency> REQUIRED)
+
+find_package(std_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+  "msg/AdcCanFrame.msg"
+  "msg/AdcCanMsgs.msg"
+  DEPENDENCIES std_msgs # Add packages that above messages depend on, in this case geometry_msgs for Sphere.msg
+)
+
+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_autoware_msgs/LICENSE

@@ -0,0 +1,202 @@
+
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src/ros2/src/adc_autoware_msgs/msg/AdcCanFrame.msg

@@ -0,0 +1,7 @@
+std_msgs/Header header
+uint32 id
+bool is_rtr
+bool is_extended
+bool is_error
+uint8 dlc
+uint8[64] data

src/ros2/src/adc_autoware_msgs/msg/AdcCanMsgs.msg

@@ -0,0 +1,4 @@
+
+std_msgs/Header header
+adc_autoware_msgs/AdcCanFrame[] frames
+

src/ros2/src/adc_autoware_msgs/package.xml

@@ -0,0 +1,23 @@
+<?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_autoware_msgs</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>
+
+  <depend>std_msgs</depend>
+  <buildtool_depend>rosidl_default_generators</buildtool_depend>
+  <exec_depend>rosidl_default_runtime</exec_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

src/ros2/src/adc_can_nvidia_agx/CMakeLists.txt

@@ -23,12 +23,14 @@ find_package(nav_msgs REQUIRED)
 find_package(sensor_msgs REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(autoware_auto_control_msgs REQUIRED)
+find_package(adc_autoware_msgs REQUIRED)
 
 find_package(Qt5 COMPONENTS Core Widgets REQUIRED)
 
 find_package(Protobuf REQUIRED)
 
 
+
 include_directories(
 ##  INCLUDE_DIRS include
   ${CMAKE_CURRENT_BINARY_DIR}/..
@@ -59,7 +61,7 @@ ament_target_dependencies(adc_can_nvidia_agx rclcpp std_msgs geometry_msgs
   tf2_geometry_msgs nav_msgs sensor_msgs can_msgs autoware_auto_control_msgs autoware_auto_geometry_msgs
   autoware_auto_mapping_msgs autoware_auto_planning_msgs autoware_auto_vehicle_msgs
   tier4_autoware_utils  autoware_auto_perception_msgs
-  tier4_perception_msgs)
+  tier4_perception_msgs adc_autoware_msgs)
 
 
 install(TARGETS

src/ros2/src/adc_can_nvidia_agx/include/adc_can_nvidia_agx/adc_can_nvidia_agx_core.hpp

@@ -21,6 +21,12 @@
 
 #include <string>
 
+#include "nvcan.h"
+#include "canctrl.h"
+
+#include "adc_autoware_msgs/msg/adc_can_frame.hpp"
+#include "adc_autoware_msgs/msg/adc_can_msgs.hpp"
+
 
 class adc_can_nvidia_agx : public rclcpp::Node
 {
@@ -36,6 +42,25 @@ private:
     std::string simulated_frame_id_;  //!< @brief simulated vehicle frame id
     std::string origin_frame_id_;     //!< @brief map frame_id
 
+    canctrl * mpcantrl;
+    
+
+private:
+    
+//   rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pub_msgs_test;
+//    rclcpp::TimerBase::SharedPtr timer_;
+    rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pub_msgs_canrecv0;
+    rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pub_msgs_canrecv1;
+
+    rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr sub_msgs_cansend0;
+    rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr sub_msgs_cansend1;
+
+private:
+    void timer_callback();
+
+    void topic_cansend0_callback(const adc_autoware_msgs::msg::AdcCanMsgs & msg) const;
+    void topic_cansend1_callback(const adc_autoware_msgs::msg::AdcCanMsgs & msg) const;
+
 
 };
 

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

@@ -1,7 +1,6 @@
 #ifndef BASECAN_H
 #define BASECAN_H
 
-#include <QThread>
 
 
 class basecan_msg
@@ -14,21 +13,18 @@ class basecan_msg
     unsigned char data[64];
 };
 
-class basecan : public QThread
+class basecan
 {
-    Q_OBJECT
 public:
     basecan();
-    ~basecan();
+    virtual ~basecan();
     virtual int GetMessage(const int nch,basecan_msg * pMsg,const int nCap);
     virtual int SetMessage(const int nch,basecan_msg * pMsg); //Send Message
 
     virtual void startdev();
     virtual void stopdev();
 
-signals:
-    void SIG_CANOPENSTATE(bool bCAN,int nR,const char * strres);
-    void SIGTEST();
+    virtual bool IsOpen();
 };
 
 #endif // BASECAN_H

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

@@ -1,21 +1,29 @@
 #ifndef CANCTRL_H
 #define CANCTRL_H
 
-#include <QThread>
+//#include <QThread>
 #include <QMutex>
 #include <memory>
 #include <QTimer>
 #include <array>
 #include <vector>
 #include <iostream>
+#include <thread>
 #include "nvcan.h"
 
+#include <rclcpp/rclcpp.hpp>
 
-class canctrl : public QThread
+#include "adc_autoware_msgs/msg/adc_can_frame.hpp"
+#include "adc_autoware_msgs/msg/adc_can_msgs.hpp"
+
+
+class canctrl
 {
-    Q_OBJECT
 public:
-    canctrl(const char * strmemsend0,const char * strmemsend1,const char * strmemrecv0,const char * strmemrecv1);
+    canctrl(rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr sub_send0,
+            rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr sub_send1,
+            rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pub_recv0,
+            rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pub_recv1);
     ~canctrl();
 
 private slots:
@@ -39,10 +47,21 @@ private:
 
     void * mpasend0, * mpasend1, * mparecv0, * mparecv1, *mpcanState;
 
+    std::thread * mpthread;
+    bool mbthreadrun = true;
+
 public:
  //   void sendmsg(int index,iv::can::canmsg xmsg);
     void sharecanmsg(void * xpa,basecan_msg * pxmsg,int ncount,int nch);
 
+private:
+    
+    rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pub_msgs_canrecv0;
+    rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pub_msgs_canrecv1;
+
+    rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr sub_msgs_cansend0;
+    rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr sub_msgs_cansend1;
+
 
 };
 

src/ros2/src/adc_can_nvidia_agx/include/adc_can_nvidia_agx/nvcan.h

@@ -9,7 +9,6 @@
 
 class nvcan : public basecan
 {
-    Q_OBJECT
 public:
     nvcan();
 public:
@@ -19,8 +18,7 @@ public:
     int GetMessage(const int nch,basecan_msg * pMsg,const int nCap);
     int SetMessage(const int nch,basecan_msg * pMsg);
 
-private slots:
-    void onMsg(bool bCAN,int nR,const char * strres);
+    bool IsOpen();
 
 private:
     void run();
@@ -33,6 +31,11 @@ private:
     bool mbCANOpen = false;
     bool mbRunning = false;
     int mnDevNum;
+
+    std::thread * mpthread;
+    bool mbthreadrun = true;
+
+
 };
 
 #endif // NVCAN_H

src/ros2/src/adc_can_nvidia_agx/package.xml

@@ -23,9 +23,12 @@
   <depend>tier4_perception_msgs</depend>
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
+  <depend>std_msgs</depend>
   <depend>sensor_msgs</depend>
   <depend>can_msgs</depend>
   <depend>rclcpp</depend>
+  <depend>adc_autoware_msgs</depend>
+
 
 
  <export>

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

@@ -34,6 +34,12 @@
 
 #include <QString>
 
+#include <functional>
+#include <memory>                      
+
+using std::placeholders::_1;
+
+
 //#include "modulecomm.h"   
 using namespace std;
 
@@ -50,6 +56,48 @@ adc_can_nvidia_agx::adc_can_nvidia_agx() : Node("adc_can_nvidia_agx")
     durable_qos.transient_local();
 
 
+    pub_msgs_canrecv0 = this->create_publisher<adc_autoware_msgs::msg::AdcCanMsgs>("canrecv0",10);
+    pub_msgs_canrecv1 = this->create_publisher<adc_autoware_msgs::msg::AdcCanMsgs>("canrecv1",10);
+
+    sub_msgs_cansend0 = this->create_subscription<adc_autoware_msgs::msg::AdcCanMsgs>("cansend0",10,
+                            std::bind(&adc_can_nvidia_agx::topic_cansend0_callback,this,_1));
+    sub_msgs_cansend1 = this->create_subscription<adc_autoware_msgs::msg::AdcCanMsgs>("cansend1",10,
+                            std::bind(&adc_can_nvidia_agx::topic_cansend1_callback,this,_1));
+
+    mpcantrl = new canctrl(sub_msgs_cansend0,sub_msgs_cansend1,pub_msgs_canrecv0,pub_msgs_canrecv1);
+
+
+
+ //   pub_msgs_test = this->create_publisher<adc_autoware_msgs::msg::AdcCanMsgs>("topic", 10);  // CHANGE
+ //   timer_ = this->create_wall_timer(
+ //     500ms, std::bind(&adc_can_nvidia_agx::timer_callback, this));
+
+}
 
+void adc_can_nvidia_agx::timer_callback()
+{
+    std::cout<<" on timer:"<<std::endl;
+
+/*
+    int64_t nnow = std::chrono::system_clock::now().time_since_epoch().count();
+    int64_t nSecond = nnow/1000000000;
+    int64_t nPartSecond = nnow - nSecond * 1000000000;
+
+    adc_autoware_msgs::msg::AdcCanMsgs xmsg;
+    xmsg.header.frame_id = "adc";
+    xmsg.header.stamp.sec = nSecond;
+    xmsg.header.stamp.nanosec = nPartSecond;
+*/
+
+}
+
+void adc_can_nvidia_agx::topic_cansend0_callback(const adc_autoware_msgs::msg::AdcCanMsgs & xmsg) const
+{
+    (void)xmsg;
+}
+
+void adc_can_nvidia_agx::topic_cansend1_callback(const adc_autoware_msgs::msg::AdcCanMsgs & xmsg) const
+{
+    (void)xmsg;
 }
 

src/ros2/src/adc_can_nvidia_agx/src/basecan.cpp

@@ -1,5 +1,8 @@
 #include "adc_can_nvidia_agx/basecan.h"
 
+#include  <iostream>
+
+
 basecan::basecan()
 {
 
@@ -7,7 +10,8 @@ basecan::basecan()
 
 basecan::~basecan()
 {
-    qDebug(" del basecan");
+    std::cout<<" del basecan"<<std::endl;
+
 }
 
 int basecan::GetMessage(const int nch,basecan_msg *pMsg, const int nCap)
@@ -35,3 +39,8 @@ void basecan::stopdev()
 {
 
 }
+
+bool basecan::IsOpen()
+{
+    return false;
+}

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

@@ -9,45 +9,52 @@ canctrl * gc;
 
 
 
-canctrl::canctrl(const char * strmemsend0,const char * strmemsend1,const char * strmemrecv0,const char * strmemrecv1)
+canctrl::canctrl(rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr sub_send0,
+            rclcpp::Subscription<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr sub_send1,
+            rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pub_recv0,
+            rclcpp::Publisher<adc_autoware_msgs::msg::AdcCanMsgs>::SharedPtr pub_recv1)
 {
+    sub_msgs_cansend0 = sub_send0;
+    sub_msgs_cansend1 = sub_send1;
+    pub_msgs_canrecv0 = pub_recv0;
+    pub_msgs_canrecv1 = pub_recv1;
 
-    (void)strmemrecv0;
-    (void)strmemrecv1;
-    (void)strmemsend0;
-    (void)strmemsend1;
-    gc = this;
+
+    mpthread = new std::thread(&canctrl::run,this);
 
     mpcan = new nvcan();
     mspcan.reset(mpcan);
-    connect(mpcan,SIGNAL(SIG_CANOPENSTATE(bool,int,const char*)),this,SLOT(onCANState(bool,int,const char*)));
+ //   connect(mpcan,SIGNAL(SIG_CANOPENSTATE(bool,int,const char*)),this,SLOT(onCANState(bool,int,const char*)));
     mpcan->startdev();
 }
 
 canctrl::~canctrl()
 {
+    mbthreadrun = false;
+    mpthread->join();
     mpcan->stopdev();
-
     delete mpcan;
-
-
-
 }
 
 void canctrl::run()
 {
 
-
-
     int nOldTime =  std::chrono::system_clock::now().time_since_epoch().count()/1000000;
     int i;
     (void)nOldTime;
 
+    static bool bTip = false;
 
-    while(!isInterruptionRequested())
+
+    while(mbthreadrun)
     {
         if(mbCANOpen)
         {
+            if(bTip == true)
+            {
+                bTip = false;
+                std::cout<<" Open CAN SuccessFully."<<std::endl;
+            }
             basecan_msg xmsg[2500];
             int nRec1,nRec2,nSend1,nSend2;
             (void)nSend1;
@@ -83,14 +90,19 @@ void canctrl::run()
             mMutexcan2.unlock();
 
 
-            msleep(1);
+            std::this_thread::sleep_for(std::chrono::milliseconds(1));
         }
         else
         {
 
-            msleep(1);
-
-            std::cout<<" open can fail."<<std::endl;
+            std::this_thread::sleep_for(std::chrono::milliseconds(1));
+            
+            if(bTip == false)
+            {
+                bTip = true;
+                std::cout<<" open can fail."<<std::endl;
+            }
+            
 
         }
 //        mpcan->mfault->SetFaultState(0, 0, "ok");
@@ -116,3 +128,4 @@ void canctrl::sharecanmsg(void *xpa, basecan_msg * pxmsg,int ncount,int nch)
     (void)ncount;
     (void)nch;
 }
+

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

@@ -55,11 +55,6 @@ std::string CANNAME[] = {"can0","can1"};
 
 nvcan::nvcan()
 {
-//    qDebug("nvcan");
-//    connect(this,SIGNAL(SIG_CANOPENSTATE(bool,int,const char*)),this,SLOT(onMsg(bool,int,const char*)));
-
-
-
 
 }
 
@@ -91,7 +86,7 @@ void nvcan::run()
     {
         s[i] = socket(PF_CAN, SOCK_RAW, CAN_RAW);
         if (s[i] < 0) {
-            emit SIG_CANOPENSTATE(false,-1,"Create Socket Error");
+            std::cout<<"Create Socket Error "<<std::endl;
             return;
         }
 
@@ -101,7 +96,7 @@ void nvcan::run()
         strncpy(ifr.ifr_name, CANNAME[i].data(), 5);
 
         if (ioctl(s[i], SIOCGIFINDEX, &ifr) < 0) {
-            emit SIG_CANOPENSTATE(false,-2,"SIOCGIFINDEX");
+            std::cout<<"SIOCGIFINDEX"<<std::endl;
             return;
         }
         addr.can_ifindex = ifr.ifr_ifindex;
@@ -110,13 +105,13 @@ void nvcan::run()
         setsockopt(s[i], SOL_CAN_RAW, CAN_RAW_FD_FRAMES, &canfd_on, sizeof(canfd_on));
 
         if (bind(s[i], (struct sockaddr *)&addr, sizeof(addr)) < 0) {
-            emit SIG_CANOPENSTATE(false,-3,"bind error");
+            std::cout<<" bind error "<<std::endl;
             return;
         }
     }
 
     mbCANOpen = true;
-    emit SIG_CANOPENSTATE(true,0,"open can card successfully");
+    std::cout<<"open can card successfully"<<std::endl;
 
     iov.iov_base = &frame;
     msg.msg_name = &addr;
@@ -131,7 +126,7 @@ void nvcan::run()
 
     int nrecvcount = 0;
 
-    while((!QThread::isInterruptionRequested())&&(mbCANOpen))
+    while((mbthreadrun)&&(mbCANOpen))
     {
         FD_ZERO(&rdfs);
         for (i=0; i<currmax; i++)
@@ -145,7 +140,7 @@ void nvcan::run()
         timeout_current = &timeout_config;
         ret = select(s[currmax-1]+1, &rdfs, NULL, NULL, timeout_current);
         if (ret < 0) {
-            emit SIG_CANOPENSTATE(false,-4,"select error");
+            std::cout<<"select error"<<std::endl;
             mbCANOpen = false;
             continue;
         }
@@ -166,7 +161,7 @@ void nvcan::run()
                 if (nbytes < 0) {
  //                   if ((errno == ENETDOWN) && !down_causes_exit) {
                     if ((errno == ENETDOWN)) {
-                        emit SIG_CANOPENSTATE(false,-5,"can card down");
+                        std::cout<<"can card down"<<std::endl;
                         fprintf(stderr, "%s: interface down\n", CANNAME[i].data());
                         return;
                     }
@@ -283,12 +278,14 @@ void nvcan::run()
 
 void nvcan::startdev()
 {
-    start();
+    mbthreadrun = true;
+    mpthread = new std::thread(&nvcan::run,this);
 }
 
 void nvcan::stopdev()
 {
-    requestInterruption();
+    mbthreadrun = false;
+    mpthread->join();
 
     int64_t nstart = std::chrono::system_clock::now().time_since_epoch().count()/1000000;
     int64_t nnow = std::chrono::system_clock::now().time_since_epoch().count()/1000000;
@@ -343,10 +340,9 @@ int nvcan::SetMessage(const int nch, basecan_msg *pMsg)
     return 0;
 }
 
-void nvcan::onMsg(bool bCAN, int nR, const char *strres)
+bool nvcan::IsOpen()
 {
-    (void)bCAN;
-    (void)nR;
-    std::cout<<"msg is: "<<strres<<std::endl;
+    return mbCANOpen;
 }
 
+