int main(int argc, char *argv[]) {
// Setup CAN and ROS. Then loop forever processing received CAN messages, and publishing
// info on ROS topics as needed. Also subcribed to ROS topic for commands.
int ret = -1;
long id;
unsigned char msg[8];
unsigned int dlc;
unsigned int flag;
unsigned long t;
int channel = 0;
int bitrate = BAUD_250K;
///////////////
// ROS setup //
///////////////
ros::init(argc, argv, "globe_epas");
ros::NodeHandle n;
ros::Publisher globe_epas_command_mode_pub = n.advertise<globe_epas::globe_epas_cmd>("report/command_mode", 1000);
ros::Publisher globe_epas_inc_position_pub = n.advertise<std_msgs::Float64>("report/inc_position", 1000);
ros::Publisher globe_epas_current_pub = n.advertise<std_msgs::Float64>("report/current", 1000);
ros::Publisher globe_epas_velocity_pub = n.advertise<std_msgs::Float64>("report/velocity", 1000);
ros::Publisher globe_epas_unit_temp_pub = n.advertise<std_msgs::Float64>("report/unit_temp", 1000);
ros::Publisher globe_epas_encoder_temp_pub = n.advertise<std_msgs::Float64>("report/encoder_temp", 1000);
ros::Publisher globe_epas_torque_input_pub = n.advertise<std_msgs::Float64>("report/torque_input", 1000);
ros::Publisher globe_epas_torque_output_pub = n.advertise<std_msgs::Float64>("report/torque_output", 1000);
ros::Subscriber globe_epas_set_command_mode_sub = n.subscribe("command/set_command_mode", 1000, callback_set_command_mode);
ros::Subscriber globe_epas_set_current_sub = n.subscribe("command/set_current", 1000, callback_set_current);
ros::Subscriber globe_epas_set_speed_sub = n.subscribe("command/set_speed", 1000, callback_set_speed);
ros::Subscriber globe_epas_set_position_sub = n.subscribe("command/set_position", 1000, callback_set_position);
ros::Subscriber globe_epas_set_position_with_speed_limit_sub = n.subscribe("command/set_position_with_speed_limit", 1000, callback_set_position_with_speed_limit);
ros::Subscriber globe_epas_set_inc_encoder_value_sub = n.subscribe("command/set_inc_encoder_value", 1000, callback_set_inc_encoder_value);
// ros::Rate loop_rate(10);
///////////////
// CAN setup //
///////////////
// Use sighand as our signal handler
signal(SIGALRM, sighand);
signal(SIGINT, sighand);
alarm(1);
// Allow signals to interrupt syscalls (in canReadBlock)
siginterrupt(SIGINT, 1);
// Open channels, set parameters and go on bus
h = canOpenChannel(channel, canOPEN_REQUIRE_EXTENDED);
if(h < 0) {
ROS_INFO("canOpenChannel %d failed\n", channel);
return -1;
}
canSetBusParams(h, bitrate, 4, 3, 1, 1, 0);
canSetBusOutputControl(h, canDRIVER_NORMAL);
canBusOn(h);
// Main loop, waiting for one of the three Globe EPAS feedback messages
while(!willExit) {
do {
ret = canReadWait(h, &id, &msg, &dlc, &flag, &t, -1);
switch (ret) {
case 0:
if(id==0x18ff0113) {
double inc_position = ((msg[3]<<24) + (msg[2]<<16) + (msg[1]<<8) + msg[0])*360.0/pow(2,20);
double current = ((msg[7]<<24) + (msg[6]<<16) + (msg[5]<<8) + msg[4])/pow(2,20);
std_msgs::Float64 pub_msg;
pub_msg.data=inc_position;
globe_epas_inc_position_pub.publish(pub_msg);
pub_msg.data=current;
globe_epas_current_pub.publish(pub_msg);
} else if(id==0x18ff0213) {
double velocity = ((msg[3]<<24) + (msg[2]<<16) + (msg[1]<<8) + msg[0])*360.0/pow(2,20)/gear_ratio;
double unit_temp = msg[4]-40.0;
double encoder_temp = msg[5]-40.0;
std_msgs::Float64 pub_msg;
pub_msg.data=velocity;
globe_epas_velocity_pub.publish(pub_msg);
pub_msg.data=unit_temp;
globe_epas_unit_temp_pub.publish(pub_msg);
pub_msg.data=encoder_temp;
globe_epas_encoder_temp_pub.publish(pub_msg);
} else if(id==0x18ff0313) {
double torque_input = ((msg[3]<<24) + (msg[2]<<16) + (msg[1]<<8) + msg[0])/pow(2,20);
double torque_output = ((msg[7]<<24) + (msg[6]<<16) + (msg[5]<<8) + msg[4])/pow(2,20);
std_msgs::Float64 pub_msg;
pub_msg.data=torque_input;
globe_epas_torque_input_pub.publish(pub_msg);
pub_msg.data=torque_output;
globe_epas_torque_output_pub.publish(pub_msg);
}
break;
case canERR_NOMSG:
break;
default:
perror("canReadBlock error");
break;
}
globe_epas::globe_epas_cmd pub_msg;
pub_msg.command_mode = command_mode;
globe_epas_command_mode_pub.publish(pub_msg);
ros::spinOnce();
} while((ret==canOK)&&(ros::ok()));
willExit=1;
}
canClose(h);
sighand(SIGALRM);
return 0;
}
int main (int argc, char *argv[])
{
canHandle h;
int ret = -1;
long id;
unsigned char msg[8];
unsigned int dlc;
unsigned int flag;
unsigned long t;
int channel = 0;
int bitrate = BAUD_500K;
int j;
kvaser::CANPacket candat;
ros::init(argc, argv, "can_listener");
ros::NodeHandle n;
ros::Publisher can_pub = n.advertise<kvaser::CANPacket>("can_raw", 10);
errno = 0;
if (argc != 2 || (channel = atoi(argv[1]), errno) != 0) {
printf("usage %s channel\n", argv[0]);
exit(1);
} else {
printf("Reading messages on channel %d\n", channel);
}
/* Use sighand as our signal handler */
signal(SIGALRM, sighand);
signal(SIGINT, sighand);
alarm(1);
/* Allow signals to interrupt syscalls(in canReadBlock) */
siginterrupt(SIGINT, 1);
/* Open channels, parameters and go on bus */
h = canOpenChannel(channel, canOPEN_EXCLUSIVE | canOPEN_REQUIRE_EXTENDED);
if (h < 0) {
printf("canOpenChannel %d failed\n", channel);
return -1;
}
canSetBusParams(h, bitrate, 4, 3, 1, 1, 0);
canSetBusOutputControl(h, canDRIVER_NORMAL);
canBusOn(h);
i = 0;
// while (!willExit) {
while(ros::ok()){
do {
ret = canReadWait(h, &id, &msg, &dlc, &flag, &t, -1);
switch (ret) {
case 0:
printf("(%d) id:%ld dlc:%d data: ", i, id, dlc);
if (dlc > 8) {
dlc = 8;
}
for (j = 0; j < dlc; j++){
printf("%2.2x ", msg[j]);
candat.dat[j]=msg[j];
}
printf(" flags:0x%x time:%ld\n", flag, t);
candat.count =i;
candat.time=t;
candat.id = id;
candat.len=dlc;
candat.header.stamp=ros::Time::now();
can_pub.publish(candat);
ros::spinOnce();
i++;
if (last_time == 0) {
last_time = time(0);
} else if (time(0) > last_time) {
last_time = time(0);
if (i != last) {
printf("rx : %d total: %d\n", i - last, i);
}
last = i;
}
break;
case canERR_NOMSG:
break;
default:
perror("canReadBlock error");
break;
}
} while (ret == canOK);
willExit = 1;
}
canClose(h);
sighand(SIGALRM);
printf("Ready\n");
return 0;
}
