#9 update basic structure for CAN

control_ws/src/stanley/CMakeLists.txt

@@ -1,7 +1,12 @@
 cmake_minimum_required(VERSION 3.5)
 project(stanley)
 
-# 기본 C++20 설정
+# Default to C99
+if(NOT CMAKE_C_STANDARD)
+  set(CMAKE_C_STANDARD 99)
+endif()
+
+# Default to C20
 if(NOT CMAKE_CXX_STANDARD)
   set(CMAKE_CXX_STANDARD 20)
 endif()
@@ -10,6 +15,10 @@ if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
   add_compile_options(-Wall -Wextra -Wpedantic)
 endif()
 
+if(POLICY CMP0148)
+  cmake_policy(SET CMP0148 OLD)
+endif()
+
 # ROS 2 패키지 의존성 찾기
 find_package(ament_cmake REQUIRED)
 find_package(rclcpp REQUIRED)
@@ -19,30 +28,26 @@ find_package(tf2 REQUIRED)
 find_package(tf2_geometry_msgs REQUIRED)
 find_package(example_interfaces REQUIRED)
 
-include(ExternalProject)
-# ExternalProject_Add을 사용하여 dbcppp 라이브러리 빌드
-ExternalProject_Add(dbcppp_build
-  SOURCE_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include/stanley/dbcppp
-  BINARY_DIR ${CMAKE_CURRENT_SOURCE_DIR}/include/stanley/dbcppp/build
-  CONFIGURE_COMMAND ${CMAKE_COMMAND} ..
-  BUILD_COMMAND ${MAKE}
-  INSTALL_COMMAND ""
-  TEST_COMMAND ""
-)
+find_package(Boost REQUIRED)
+
+ament_package()
 
 include_directories(
   include/${PROJECT_NAME}
-  include/stanley/dbcppp/include # dbcppp 헤더 파일 위치
+  include/${PROJECT_NAME}/dbcppp/src
+  include/${PROJECT_NAME}/dbcppp/include
 )
 
+FILE(GLOB CANProtocol include/${PROJECT_NAME}/dbcppp/src/*.cpp)
+
 add_executable(${PROJECT_NAME}
   src/main.cpp
   src/control.cpp
   src/controller/stanley.cpp
+  src/canprotocol/can_protocol.cpp
+  ${CANProtocol}
 )
 
-add_dependencies(${PROJECT_NAME} dbcppp_build) # dbcppp가 먼저 빌드되도록 의존성 추가
-
 ament_target_dependencies(${PROJECT_NAME} 
   rclcpp
   nav_msgs 
@@ -57,4 +62,6 @@ install(TARGETS
   DESTINATION lib/${PROJECT_NAME}
 )
 
-ament_package()
+target_link_libraries(${PROJECT_NAME}
+  ${Boost}
+)

control_ws/src/stanley/include/stanley/canprotocol/can_protocol.hpp

@@ -1,34 +1,28 @@
 #pragma once
 
-#include "utils/car_struct.h"
-#include "utils/msg_structs.h"
-
-#include "dbcppp/include/dbcppp/Network.h"
-
+#include <iostream>
+#include <fstream>
+#include <unordered_map>
+#include <cstring>
 #include <linux/can.h>
 #include <linux/can/raw.h>
 #include <sys/socket.h>
 #include <sys/ioctl.h>
 #include <net/if.h>
 #include <unistd.h>
-#include <iostream>
-#include <fstream>
-#include <unordered_map>
-#include <memory>
-#include <chrono>
-#include <string>
-#include <unordered_map>
+
+#include "dbcppp/Network.h"
 
 class CANSender {
 public:
     CANSender(const std::string& dbc_file, const std::string& can_interface);
     ~CANSender();
+    void sendSpeedMessage(double speed);
 
 private:
     int sock;
     uint64_t target_message_id;
     double speed_value;
-    std::shared_ptr<const dbcppp::INetwork> net;
+    std::unique_ptr<dbcppp::INetwork> net;
     std::unordered_map<uint64_t, const dbcppp::IMessage*> messages;
 };
-

control_ws/src/stanley/include/stanley/control.hpp

@@ -5,7 +5,7 @@
 
 #include "controller/stanley.hpp"
 
-// #include "canprotocol/can_protocol.hpp"
+#include "canprotocol/can_protocol.hpp"
 
 #include "rclcpp/rclcpp.hpp"
 #include "nav_msgs/msg/path.hpp"
@@ -27,7 +27,7 @@ class Control : public rclcpp::Node {
 private:
     Stanley controller;
 
-    // std::unique_ptr<CANReceiver> can_receiver;
+    std::unique_ptr<CANSender> can_sender;
 
     std::vector<Path> refPoses;
     Pose currPose;

control_ws/src/stanley/include/stanley/utils/example.dbc

@@ -0,0 +1,43 @@
+VERSION ""
+
+NS_ :
+    NS_DESC_
+    CM_
+    BA_DEF_
+    BA_
+    VAL_
+    CAT_DEF_
+    CAT_
+    FILTER
+    BA_DEF_DEF_
+    EV_DATA_
+    ENVVAR_DATA_
+    SGTYPE_
+    SGTYPE_VAL_
+    BA_DEF_SGTYPE_
+    BA_SGTYPE_
+    SIG_TYPE_REF_
+    VAL_TABLE_
+    SIG_GROUP_
+    SIG_VALTYPE_
+    SIGTYPE_VALTYPE_
+    BO_TX_BU_
+    BA_DEF_REL_
+    BA_REL_
+    BA_DEF_DEF_REL_
+    BU_SG_REL_
+    BU_EV_REL_
+    BU_BO_REL_
+    SG_MUL_VAL_
+
+BS_:
+
+BU_: PCM
+
+BO_ 255 SpeedMessage1: 8 PCM
+ SG_ Speed : 0|16@1+ (1,0) [0|65535] "" PCM
+
+BO_ 254 SpeedMessage2: 8 PCM
+ SG_ Speed : 0|16@1+ (1,0) [0|65535] "" PCM
+
+CM_ "Example DBC file with two messages using the same data structure but different IDs.";

control_ws/src/stanley/src/canprotocol/can_protocol.cpp

@@ -1,15 +1,14 @@
-// CANReceiver.cpp
-#include "CANReceiver.hpp"
+#include "canprotocol/can_protocol.hpp"
 
-CANSender::CANSender(const std::string& dbc_file, const std::string& can_interface)
-    : target_message_id(255), speed_value(10.0) {
+CANSender::CANSender(const std::string& dbc_file, const std::string& can_interface) {
     std::ifstream idbc(dbc_file);
     this->net = dbcppp::INetwork::LoadDBCFromIs(idbc);
     if (!this->net) {
         throw std::runtime_error("Failed to parse DBC file.");
     }
 
     for (const auto& msg : this->net->Messages()) {
+        std::cout << "Msg ID : " << msg.Id() << std::endl;
         this->messages[msg.Id()] = &msg;
     }
 
@@ -26,23 +25,25 @@ CANSender::CANSender(const std::string& dbc_file, const std::string& can_interfa
     addr.can_family = AF_CAN;
     addr.can_ifindex = ifr.ifr_ifindex;
     bind(this->sock, (struct sockaddr *)&addr, sizeof(addr));
+
+    this->target_message_id = 255;
 }
 
 CANSender::~CANSender() {
     close(sock);
 }
 
 void CANSender::sendSpeedMessage(double speed) {
-    auto iter = messages.find(target_message_id);
+    std::unordered_map<uint64_t, const dbcppp::IMessage*>::iterator iter = messages.find(target_message_id);
     if (iter == messages.end()) {
         throw std::runtime_error("Message with ID 255 not found in DBC.");
     }
 
-    const auto& msg = *iter->second;
+    const dbcppp::IMessage& msg = *(iter->second);
     std::vector<uint8_t> frame_data(8, 0);
-    for (const auto& sig : msg.Signals()) {
+    for (const dbcppp::ISignal& sig : msg.Signals()) {
         if (sig.Name() == "Speed") {
-            auto raw_value = sig.PhysToRaw(speed);
+            double raw_value = sig.PhysToRaw(speed);
             sig.Encode(raw_value, frame_data.data());
         }
     }
@@ -52,9 +53,9 @@ void CANSender::sendSpeedMessage(double speed) {
     frame.can_dlc = frame_data.size();
     std::memcpy(frame.data, frame_data.data(), frame_data.size());
 
-    int nbytes = write(sock, &frame, sizeof(struct can_frame));
+    ssize_t nbytes = write(sock, &frame, sizeof(struct can_frame));
     if (nbytes != sizeof(struct can_frame)) {
-        std::cerr << "Error while sending frame" << std::endl;
+        throw std::runtime_error("Error while sending frame.");
     } else {
         std::cout << "Message sent successfully: Speed = " << speed << std::endl;
     }

control_ws/src/stanley/src/control.cpp

@@ -7,7 +7,7 @@ Control::Control() : rclcpp::Node("vehicle_control") {
     this->controller = Stanley(k, ks);
 
     // Initialize CAN receiver
-    // this->can_receiver = std::make_unique<CANReceiver>("../example.dbc", "vcan0");
+    this->can_sender = std::make_unique<CANSender>("src/stanley/include/stanley/utils/example.dbc", "vcan0");
 
     // Subscribe
     path_subscription_ = this->create_subscription<nav_msgs::msg::Path>(
@@ -84,7 +84,7 @@ void Control::publisher_timer_callback() {
 
     this->publish_drive(this->speedCommand, this->steerCommand);
 
-    // this->can_receiver->receiveMessages();
+    this->can_sender->sendSpeedMessage(this->speedCommand);
 }
 
 void Control::publish_drive(float speed, float steer) {