Class Converter

Defined in File Converter.hpp

Inheritance Relationships

Base Type

public rclcpp::Node

Class Documentation

class Converter : public rclcpp::Node

Public Functions

explicit Converter(const rclcpp::NodeOptions &options)

Protected Functions

void loadParameters()

void setup()

bool logLevelIsDebug()

template<typename T_struct> bool decodeBufferToStruct(const uint8_t *buffer, const int size, const asn_TYPE_descriptor_t *type_descriptor, T_struct *asn1_struct)

template<typename T_ros, typename T_struct> T_ros structToRosMessage(const T_struct &asn1_struct, const asn_TYPE_descriptor_t *type_descriptor, std::function<void(const T_struct&, T_ros&)> conversion_fn)

template<typename T_ros, typename T_struct> bool decodeBufferToRosMessage(const uint8_t *buffer, const int size, const asn_TYPE_descriptor_t *type_descriptor, std::function<void(const T_struct&, T_ros&)> conversion_fn, T_ros &msg)

UdpPacket bufferToUdpPacketMessage(const uint8_t *buffer, const int size, const int btp_header_destination_port)

template<typename T_ros, typename T_struct> T_struct rosMessageToStruct(const T_ros &msg, const asn_TYPE_descriptor_t *type_descriptor, std::function<void(const T_ros&, T_struct&)> conversion_fn)

template<typename T_struct> bool encodeStructToBuffer(const T_struct &asn1_struct, const asn_TYPE_descriptor_t *type_descriptor, uint8_t *&buffer, int &size)

template<typename T_ros, typename T_struct> bool encodeRosMessageToUdpPacketMessage(const T_ros &msg, UdpPacket &udp_msg, const asn_TYPE_descriptor_t *type_descriptor, std::function<void(const T_ros&, T_struct&)> conversion_fn, const int btp_header_destination_port)

void udpCallback(const UdpPacket::UniquePtr udp_msg)

template<typename T_ros, typename T_struct> void rosCallback(const typename T_ros::UniquePtr msg, const std::string &type, const asn_TYPE_descriptor_t *type_descriptor, std::function<void(const T_ros&, T_struct&)> conversion_fn)

Protected Attributes

bool has_btp_destination_port_

int btp_destination_port_offset_

int etsi_message_payload_offset_

std::vector<std::string> ros2udp_etsi_types_

std::vector<std::string> udp2ros_etsi_types_

int subscriber_queue_size_

int publisher_queue_size_

bool check_constraints_before_encoding_

rclcpp::Subscription<UdpPacket>::SharedPtr subscriber_udp_

std::unordered_map<std::string, rclcpp::SubscriptionBase::SharedPtr> subscribers_

rclcpp::Publisher<cam_msgs::CAM>::SharedPtr publisher_cam_

rclcpp::Publisher<cam_ts_msgs::CAM>::SharedPtr publisher_cam_ts_

rclcpp::Publisher<cpm_ts_msgs::CollectivePerceptionMessage>::SharedPtr publisher_cpm_ts_

rclcpp::Publisher<denm_msgs::DENM>::SharedPtr publisher_denm_

rclcpp::Publisher<denm_ts_msgs::DENM>::SharedPtr publisher_denm_ts_

rclcpp::Publisher<mapem_ts_msgs::MAPEM>::SharedPtr publisher_mapem_ts_

rclcpp::Publisher<spatem_ts_msgs::SPATEM>::SharedPtr publisher_spatem_ts_

rclcpp::Publisher<vam_ts_msgs::VAM>::SharedPtr publisher_vam_ts_

rclcpp::Publisher<UdpPacket>::SharedPtr publisher_udp_

Protected Static Attributes

static const std::string kInputTopicUdp

static const std::string kOutputTopicUdp

static const std::string kInputTopicCam

static const std::string kOutputTopicCam

static const std::string kInputTopicCamTs

static const std::string kOutputTopicCamTs

static const std::string kInputTopicCpmTs

static const std::string kOutputTopicCpmTs

static const std::string kInputTopicDenm

static const std::string kOutputTopicDenm

static const std::string kInputTopicDenmTs

static const std::string kOutputTopicDenmTs

static const std::string kInputTopicMapemTs

static const std::string kOutputTopicMapemTs

static const std::string kInputTopicSpatemTs

static const std::string kOutputTopicSpatemTs

static const std::string kInputTopicVamTs

static const std::string kOutputTopicVamTs

static const std::string kHasBtpDestinationPortParam

static const bool kHasBtpDestinationPortParamDefault

static const std::string kBtpDestinationPortOffsetParam

static const int kBtpDestinationPortOffsetParamDefault

static const std::string kEtsiMessagePayloadOffsetParam

static const int kEtsiMessagePayloadOffsetParamDefault

static const std::string kRos2UdpEtsiTypesParam

static const std::string kUdp2RosEtsiTypesParam

static const std::vector<std::string> kEtsiTypesParamSupportedOptions

static const std::vector<std::string> kRos2UdpEtsiTypesParamDefault

static const std::vector<std::string> kUdp2RosEtsiTypesParamDefault

static const std::string kSubscriberQueueSizeParam

static const int kSubscriberQueueSizeParamDefault

static const std::string kPublisherQueueSizeParam

static const int kPublisherQueueSizeParamDefault

static const std::string kCheckConstraintsBeforeEncodingParam

static const bool kCheckConstraintsBeforeEncodingParamDefault