Package Summary

Tags No category tags.
Version 1.0.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/dataspeedinc/dataspeed_can
VCS Type hg
VCS Version default
Last Updated 2018-12-06
Dev Status DEVELOPED
Released RELEASED

Package Description

CAN bus introspection

Additional Links

Maintainers

  • Micho Radovnikovich

Authors

  • Micho Radovnikovich

===can_node===
* START: node.cpp
    * Create a CanDriver.cpp instance
* CanDriver.cpp
    * TO CHANGE: Add Sync Time support
    * Create a CanUsb.cpp instance
        * This creates a reference to a data stream which provides a callback whenever USB data is read from the CAN device.
    * Set the CanUsb callback to CanDriver.cpp::recvDevice
    * Get bitrate and error_topic information
        * Each channel is fetched individually and placed in a vector. bitrate[0] is modified by the launch parameter "bitrate_1", like so:
            <remap from="can_bus_1" to="can_bus_1"/>
            <param name="bitrate_1" value="250000" /> <!-- 250kbit/s -->
            <param name="channel_1_mask_0"  value="0x80000000" />
            <param name="channel_1_match_0" value="0x80000000" /> 
        * Same for filter_masks and matches.
    * Open the CAN driver (run CanUsb.cpp::open)
    * Read version number and channel count
    * For each channel, print the filter masks, and filter matches to the console
    * For each channel, attempt to set the bitrates, then print to console
    * If all channel bitrates are set successfully, set up ROS pub/subs:
        * For each channel with nonzero bitrate, create a node (can_bus_#)
            * Create a subscriber (can_tx) to receive messages to send to the device
            * Create a publisher (can_rx) to send messages whenever the device sends data
            * Create an error publisher (can_err) if argument is set
    * Whenever data is received from the device, publish a can_msgs::Frame to the appropriate channel
        * can_msgs is a standard message type: http://docs.ros.org/kinetic/api/can_msgs/html/msg/Frame.html
        Contains a unique ID, data length code (dlc), and data (up to 8 bytes)

===dbc_node===
* START: dbc_node.cpp
    * Create a Node and NodeHandle
    * Get dbc_file parameter; if it doesn't exist, exit.
    * Create a CanExtractor.cpp object, passing the dbc_file value
    * Create a subscriber to can_rx (which is published by can_node)
        * When a can_msgs::Frame message is received, get the ID (OR it with 0x80000000 if it's an extended msg) and put it in a RosCanMsgStruct
        * Run CanExtractor::getMessage(RosCanMsgStruct), which returns true/false
            * If true, run CanExtractor::initPublishers(RosCanMsgStruct, NodeHandle)
        * Run CanExtractor::pubMessage(can_msgs::Frame), which posts the data to the appropriate ROS topic 
* CanExtractor.cpp
    * dbc_
        * A DBCIterator.cpp object
    * msgs_
        * A map between CAN message IDs and RosCanMsgStructs
    * getMessage(RosCanMsgStruct)
        * Check if the RosCanMsgStruct is already in the msgs_ map.
        * If it is, set the RosCanMsgStruct reference to the stored one, and return false (the message type has already been processed).
        * If it isn't, iterate over dbc_, searching for the CAN ID.
            * For each matching DBCMessage::Message found, create a RosCanSigStruct based on it and append it to the RosCanMsgStruct
            * Then store the RosCanMsgStruct and return it
        * Either way, the result is a RosCanMsgStruct, containing a CAN ID, and message name.
        * RosCanMsgStruct contains a can_msgs::Frame publisher which sends whenever a message is received, and a vector of RosCanSigStructs, each containing a publisher which sends individual fields whenever a message is received.
    * initPublishers(RosCanMsgStruct, NodeHandle)
        * Creates a publisher for the message as a whole (can_msgs::Frame) and attaches it to RosCanMsgStruct
        * Creates publishers for each signal with registerCanSignalPublisher(RosCanSigStruct NodeHandle)
    * registerCanSignalPublisher(RosCanSigStruct NodeHandle)
        * Creates an std_msgs::Int/Float64/Bool publisher (signed/unsigned/size based on RosCanSigStruct)
        * Attaches the publisher to the RosCanSigStruct
    * pubMessage()
        * Retrieve the RosCanMsgStruct from the msgs_ map based on message ID.
            * If the messageID isn't in the msgs_ map, return.
        * An 8-byte integer (uint64) stores all message data.
        * TO CHANGE: Loop through the list of signals for a signal multiplexor enum value that is MULTIPLEXOR. Save this value and break if found, set to -1 otherwise.
        * For each signal, the data is retrieved based on the start bit and length (signed or unsigned).
        * TO CHANGE: For each signal, if the multiplexor is not -1, use an if conditional to check if the signal's multiplexor enum is MULTIPLEXED; if it is, check if the multiplexNum is equal to the multiplexor value from the loop above; only publish if the values match.
* DBCIterator.cpp
    * messageList: Vector of DBCMessage.Message objects
    * init
        * TO CHANGE: Support multiple file streams
        * Open the file stream
        * DBCMessage::Message overrides the >> operator, and uses this to take a stream (up to the next )
        * If the process fails and the stream errors out, clear it (which will cause the loop to exit)
        * Else, add the message to the messageList.
        * DBCIterator iterates the file's messages, DBCMessage iterates the message's signals
* DBCMessage.cpp
    * If the line does not start in BO_, throw an error to get the parent iterator to clear to the next line.
    * If it does, fetch the BO data:
        BO_ <ID> <Messagename> <ByteLength> <Sender>
    * Then, iterate over the next lines;
    * While the stream is creating valid signal objects, >> create more DbcSignal.cpp objects.
* DBCSignal.cpp
    * Get the next line, if (after cleanup) the line is empty or does not start with SG_, throw an error to get the parent iterator to finish parsing signals.
    * If it does, fetch the signal data:
        SG_ <Fieldname> <Multiplexor> : <StartBit>|<BitLength>@<Order><Signed> (<Factor>,<Offset>) [<Minimum>|<Maximum>] "<Unit>" <Receivers>
    * Multiplexor may be blank (meaning value always appears in the message), in which case there will be no value between the Fieldname and the :
    * If Multiplexor is not blank, it is either:
        * 'M', meaning the value is the multiplexor
        * 'm###', with numbers, meaning the signal only appears in the message when the multiplexor value is equal to that of the multiplexed signal
    * Byteorder is either Motorola (big-endian/network) (0) or Intel (little-endian/math) (1)
    * Signed is either + (unsigned value) or - (signed value)
    * phys = digits * factor + offset

===DBC EXAMPLE===
BO_ 126 License: 8 EPAS
 SG_ EXPIRED : 10|1@1+ (1,0) [0|0] ""  MAB
 SG_ MUX M : 0|8@1+ (1,0) [0|0] ""  MAB
 SG_ FEAT_BASE_TRIALS_USED m0 : 32|16@1+ (1,0) [0|0] ""  MAB
 SG_ DATE1 m129 : 24|8@1+ (1,0) [0|0] ""  MAB


 SG_ FEAT_BASE_TRIALS_REMAINING m0 : 48|16@1+ (1,0) [0|0] ""  MAB
 SG_ FEAT_BASE_TRIAL m0 : 17|1@1+ (1,0) [0|0] ""  MAB
 SG_ FEAT_BASE_ENABLED m0 : 16|1@1+ (1,0) [0|0] ""  MAB
 SG_ TRIAL : 9|1@1+ (1,0) [0|0] ""  MAB
 SG_ READY : 8|1@1+ (1,0) [0|0] ""  MAB
 SG_ DATE0 m129 : 16|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN16 m133 : 48|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN15 m133 : 40|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN14 m133 : 32|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN01 m131 : 24|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN00 m131 : 16|8@1+ (1,0) [0|0] ""  MAB

CHANGELOG

Changelog for package dataspeed_can_tools

1.0.11 (2018-09-06)

  • Added support for multiple DBC files
  • Added support for multiplexed signals
  • Many changes to the command line arguments
  • Fixed bug with signals greater than 31 bits
  • Set CXX_STANDARD to C++11 when necessary
  • Contributors: Kevin Hallenbeck, Eric Myllyoja

1.0.10 (2018-06-13)

1.0.9 (2018-06-12)

  • Preliminary support for extended IDs
  • Contributors: Kevin Hallenbeck

1.0.8 (2018-04-09)

  • Added timestamp
  • Added option to expand dbc signals or not
  • Handle messages not defined in the dbc file
  • Contributors: Kevin Hallenbeck

1.0.7 (2017-10-19)

1.0.6 (2017-09-07)

  • Migrated from dataspeed_can_msgs to can_msgs (this will break dependent packages)
  • Contributors: Kevin Hallenbeck

1.0.5 (2017-08-21)

  • Updated nodelets to the PLUGINLIB_EXPORT_CLASS macro
  • Contributors: Kevin Hallenbeck

1.0.4 (2017-05-08)

1.0.3 (2017-04-25)

  • Updated package.xml format to version 2
  • Contributors: Kevin Hallenbeck

1.0.2 (2017-01-24)

1.0.1 (2016-11-17)

1.0.0 (2016-09-28)

  • Initial release
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged dataspeed_can_tools at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/dataspeedinc/dataspeed_can
VCS Type hg
VCS Version default
Last Updated 2018-12-06
Dev Status DEVELOPED
Released RELEASED

Package Description

CAN bus introspection

Additional Links

Maintainers

  • Micho Radovnikovich

Authors

  • Micho Radovnikovich

===can_node===
* START: node.cpp
    * Create a CanDriver.cpp instance
* CanDriver.cpp
    * TO CHANGE: Add Sync Time support
    * Create a CanUsb.cpp instance
        * This creates a reference to a data stream which provides a callback whenever USB data is read from the CAN device.
    * Set the CanUsb callback to CanDriver.cpp::recvDevice
    * Get bitrate and error_topic information
        * Each channel is fetched individually and placed in a vector. bitrate[0] is modified by the launch parameter "bitrate_1", like so:
            <remap from="can_bus_1" to="can_bus_1"/>
            <param name="bitrate_1" value="250000" /> <!-- 250kbit/s -->
            <param name="channel_1_mask_0"  value="0x80000000" />
            <param name="channel_1_match_0" value="0x80000000" /> 
        * Same for filter_masks and matches.
    * Open the CAN driver (run CanUsb.cpp::open)
    * Read version number and channel count
    * For each channel, print the filter masks, and filter matches to the console
    * For each channel, attempt to set the bitrates, then print to console
    * If all channel bitrates are set successfully, set up ROS pub/subs:
        * For each channel with nonzero bitrate, create a node (can_bus_#)
            * Create a subscriber (can_tx) to receive messages to send to the device
            * Create a publisher (can_rx) to send messages whenever the device sends data
            * Create an error publisher (can_err) if argument is set
    * Whenever data is received from the device, publish a can_msgs::Frame to the appropriate channel
        * can_msgs is a standard message type: http://docs.ros.org/kinetic/api/can_msgs/html/msg/Frame.html
        Contains a unique ID, data length code (dlc), and data (up to 8 bytes)

===dbc_node===
* START: dbc_node.cpp
    * Create a Node and NodeHandle
    * Get dbc_file parameter; if it doesn't exist, exit.
    * Create a CanExtractor.cpp object, passing the dbc_file value
    * Create a subscriber to can_rx (which is published by can_node)
        * When a can_msgs::Frame message is received, get the ID (OR it with 0x80000000 if it's an extended msg) and put it in a RosCanMsgStruct
        * Run CanExtractor::getMessage(RosCanMsgStruct), which returns true/false
            * If true, run CanExtractor::initPublishers(RosCanMsgStruct, NodeHandle)
        * Run CanExtractor::pubMessage(can_msgs::Frame), which posts the data to the appropriate ROS topic 
* CanExtractor.cpp
    * dbc_
        * A DBCIterator.cpp object
    * msgs_
        * A map between CAN message IDs and RosCanMsgStructs
    * getMessage(RosCanMsgStruct)
        * Check if the RosCanMsgStruct is already in the msgs_ map.
        * If it is, set the RosCanMsgStruct reference to the stored one, and return false (the message type has already been processed).
        * If it isn't, iterate over dbc_, searching for the CAN ID.
            * For each matching DBCMessage::Message found, create a RosCanSigStruct based on it and append it to the RosCanMsgStruct
            * Then store the RosCanMsgStruct and return it
        * Either way, the result is a RosCanMsgStruct, containing a CAN ID, and message name.
        * RosCanMsgStruct contains a can_msgs::Frame publisher which sends whenever a message is received, and a vector of RosCanSigStructs, each containing a publisher which sends individual fields whenever a message is received.
    * initPublishers(RosCanMsgStruct, NodeHandle)
        * Creates a publisher for the message as a whole (can_msgs::Frame) and attaches it to RosCanMsgStruct
        * Creates publishers for each signal with registerCanSignalPublisher(RosCanSigStruct NodeHandle)
    * registerCanSignalPublisher(RosCanSigStruct NodeHandle)
        * Creates an std_msgs::Int/Float64/Bool publisher (signed/unsigned/size based on RosCanSigStruct)
        * Attaches the publisher to the RosCanSigStruct
    * pubMessage()
        * Retrieve the RosCanMsgStruct from the msgs_ map based on message ID.
            * If the messageID isn't in the msgs_ map, return.
        * An 8-byte integer (uint64) stores all message data.
        * TO CHANGE: Loop through the list of signals for a signal multiplexor enum value that is MULTIPLEXOR. Save this value and break if found, set to -1 otherwise.
        * For each signal, the data is retrieved based on the start bit and length (signed or unsigned).
        * TO CHANGE: For each signal, if the multiplexor is not -1, use an if conditional to check if the signal's multiplexor enum is MULTIPLEXED; if it is, check if the multiplexNum is equal to the multiplexor value from the loop above; only publish if the values match.
* DBCIterator.cpp
    * messageList: Vector of DBCMessage.Message objects
    * init
        * TO CHANGE: Support multiple file streams
        * Open the file stream
        * DBCMessage::Message overrides the >> operator, and uses this to take a stream (up to the next )
        * If the process fails and the stream errors out, clear it (which will cause the loop to exit)
        * Else, add the message to the messageList.
        * DBCIterator iterates the file's messages, DBCMessage iterates the message's signals
* DBCMessage.cpp
    * If the line does not start in BO_, throw an error to get the parent iterator to clear to the next line.
    * If it does, fetch the BO data:
        BO_ <ID> <Messagename> <ByteLength> <Sender>
    * Then, iterate over the next lines;
    * While the stream is creating valid signal objects, >> create more DbcSignal.cpp objects.
* DBCSignal.cpp
    * Get the next line, if (after cleanup) the line is empty or does not start with SG_, throw an error to get the parent iterator to finish parsing signals.
    * If it does, fetch the signal data:
        SG_ <Fieldname> <Multiplexor> : <StartBit>|<BitLength>@<Order><Signed> (<Factor>,<Offset>) [<Minimum>|<Maximum>] "<Unit>" <Receivers>
    * Multiplexor may be blank (meaning value always appears in the message), in which case there will be no value between the Fieldname and the :
    * If Multiplexor is not blank, it is either:
        * 'M', meaning the value is the multiplexor
        * 'm###', with numbers, meaning the signal only appears in the message when the multiplexor value is equal to that of the multiplexed signal
    * Byteorder is either Motorola (big-endian/network) (0) or Intel (little-endian/math) (1)
    * Signed is either + (unsigned value) or - (signed value)
    * phys = digits * factor + offset

===DBC EXAMPLE===
BO_ 126 License: 8 EPAS
 SG_ EXPIRED : 10|1@1+ (1,0) [0|0] ""  MAB
 SG_ MUX M : 0|8@1+ (1,0) [0|0] ""  MAB
 SG_ FEAT_BASE_TRIALS_USED m0 : 32|16@1+ (1,0) [0|0] ""  MAB
 SG_ DATE1 m129 : 24|8@1+ (1,0) [0|0] ""  MAB


 SG_ FEAT_BASE_TRIALS_REMAINING m0 : 48|16@1+ (1,0) [0|0] ""  MAB
 SG_ FEAT_BASE_TRIAL m0 : 17|1@1+ (1,0) [0|0] ""  MAB
 SG_ FEAT_BASE_ENABLED m0 : 16|1@1+ (1,0) [0|0] ""  MAB
 SG_ TRIAL : 9|1@1+ (1,0) [0|0] ""  MAB
 SG_ READY : 8|1@1+ (1,0) [0|0] ""  MAB
 SG_ DATE0 m129 : 16|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN16 m133 : 48|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN15 m133 : 40|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN14 m133 : 32|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN01 m131 : 24|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN00 m131 : 16|8@1+ (1,0) [0|0] ""  MAB

CHANGELOG

Changelog for package dataspeed_can_tools

1.0.11 (2018-09-06)

  • Added support for multiple DBC files
  • Added support for multiplexed signals
  • Many changes to the command line arguments
  • Fixed bug with signals greater than 31 bits
  • Set CXX_STANDARD to C++11 when necessary
  • Contributors: Kevin Hallenbeck, Eric Myllyoja

1.0.10 (2018-06-13)

1.0.9 (2018-06-12)

  • Preliminary support for extended IDs
  • Contributors: Kevin Hallenbeck

1.0.8 (2018-04-09)

  • Added timestamp
  • Added option to expand dbc signals or not
  • Handle messages not defined in the dbc file
  • Contributors: Kevin Hallenbeck

1.0.7 (2017-10-19)

1.0.6 (2017-09-07)

  • Migrated from dataspeed_can_msgs to can_msgs (this will break dependent packages)
  • Contributors: Kevin Hallenbeck

1.0.5 (2017-08-21)

  • Updated nodelets to the PLUGINLIB_EXPORT_CLASS macro
  • Contributors: Kevin Hallenbeck

1.0.4 (2017-05-08)

1.0.3 (2017-04-25)

  • Updated package.xml format to version 2
  • Contributors: Kevin Hallenbeck

1.0.2 (2017-01-24)

1.0.1 (2016-11-17)

1.0.0 (2016-09-28)

  • Initial release
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

Wiki Tutorials

See ROS Wiki Tutorials for more details.

Source Tutorials

Not currently indexed.

Package Dependencies

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged dataspeed_can_tools at answers.ros.org

Package Summary

Tags No category tags.
Version 1.0.11
License BSD
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://bitbucket.org/dataspeedinc/dataspeed_can
VCS Type hg
VCS Version default
Last Updated 2018-12-06
Dev Status DEVELOPED
Released RELEASED

Package Description

CAN bus introspection

Additional Links

Maintainers

  • Micho Radovnikovich

Authors

  • Micho Radovnikovich

===can_node===
* START: node.cpp
    * Create a CanDriver.cpp instance
* CanDriver.cpp
    * TO CHANGE: Add Sync Time support
    * Create a CanUsb.cpp instance
        * This creates a reference to a data stream which provides a callback whenever USB data is read from the CAN device.
    * Set the CanUsb callback to CanDriver.cpp::recvDevice
    * Get bitrate and error_topic information
        * Each channel is fetched individually and placed in a vector. bitrate[0] is modified by the launch parameter "bitrate_1", like so:
            <remap from="can_bus_1" to="can_bus_1"/>
            <param name="bitrate_1" value="250000" /> <!-- 250kbit/s -->
            <param name="channel_1_mask_0"  value="0x80000000" />
            <param name="channel_1_match_0" value="0x80000000" /> 
        * Same for filter_masks and matches.
    * Open the CAN driver (run CanUsb.cpp::open)
    * Read version number and channel count
    * For each channel, print the filter masks, and filter matches to the console
    * For each channel, attempt to set the bitrates, then print to console
    * If all channel bitrates are set successfully, set up ROS pub/subs:
        * For each channel with nonzero bitrate, create a node (can_bus_#)
            * Create a subscriber (can_tx) to receive messages to send to the device
            * Create a publisher (can_rx) to send messages whenever the device sends data
            * Create an error publisher (can_err) if argument is set
    * Whenever data is received from the device, publish a can_msgs::Frame to the appropriate channel
        * can_msgs is a standard message type: http://docs.ros.org/kinetic/api/can_msgs/html/msg/Frame.html
        Contains a unique ID, data length code (dlc), and data (up to 8 bytes)

===dbc_node===
* START: dbc_node.cpp
    * Create a Node and NodeHandle
    * Get dbc_file parameter; if it doesn't exist, exit.
    * Create a CanExtractor.cpp object, passing the dbc_file value
    * Create a subscriber to can_rx (which is published by can_node)
        * When a can_msgs::Frame message is received, get the ID (OR it with 0x80000000 if it's an extended msg) and put it in a RosCanMsgStruct
        * Run CanExtractor::getMessage(RosCanMsgStruct), which returns true/false
            * If true, run CanExtractor::initPublishers(RosCanMsgStruct, NodeHandle)
        * Run CanExtractor::pubMessage(can_msgs::Frame), which posts the data to the appropriate ROS topic 
* CanExtractor.cpp
    * dbc_
        * A DBCIterator.cpp object
    * msgs_
        * A map between CAN message IDs and RosCanMsgStructs
    * getMessage(RosCanMsgStruct)
        * Check if the RosCanMsgStruct is already in the msgs_ map.
        * If it is, set the RosCanMsgStruct reference to the stored one, and return false (the message type has already been processed).
        * If it isn't, iterate over dbc_, searching for the CAN ID.
            * For each matching DBCMessage::Message found, create a RosCanSigStruct based on it and append it to the RosCanMsgStruct
            * Then store the RosCanMsgStruct and return it
        * Either way, the result is a RosCanMsgStruct, containing a CAN ID, and message name.
        * RosCanMsgStruct contains a can_msgs::Frame publisher which sends whenever a message is received, and a vector of RosCanSigStructs, each containing a publisher which sends individual fields whenever a message is received.
    * initPublishers(RosCanMsgStruct, NodeHandle)
        * Creates a publisher for the message as a whole (can_msgs::Frame) and attaches it to RosCanMsgStruct
        * Creates publishers for each signal with registerCanSignalPublisher(RosCanSigStruct NodeHandle)
    * registerCanSignalPublisher(RosCanSigStruct NodeHandle)
        * Creates an std_msgs::Int/Float64/Bool publisher (signed/unsigned/size based on RosCanSigStruct)
        * Attaches the publisher to the RosCanSigStruct
    * pubMessage()
        * Retrieve the RosCanMsgStruct from the msgs_ map based on message ID.
            * If the messageID isn't in the msgs_ map, return.
        * An 8-byte integer (uint64) stores all message data.
        * TO CHANGE: Loop through the list of signals for a signal multiplexor enum value that is MULTIPLEXOR. Save this value and break if found, set to -1 otherwise.
        * For each signal, the data is retrieved based on the start bit and length (signed or unsigned).
        * TO CHANGE: For each signal, if the multiplexor is not -1, use an if conditional to check if the signal's multiplexor enum is MULTIPLEXED; if it is, check if the multiplexNum is equal to the multiplexor value from the loop above; only publish if the values match.
* DBCIterator.cpp
    * messageList: Vector of DBCMessage.Message objects
    * init
        * TO CHANGE: Support multiple file streams
        * Open the file stream
        * DBCMessage::Message overrides the >> operator, and uses this to take a stream (up to the next )
        * If the process fails and the stream errors out, clear it (which will cause the loop to exit)
        * Else, add the message to the messageList.
        * DBCIterator iterates the file's messages, DBCMessage iterates the message's signals
* DBCMessage.cpp
    * If the line does not start in BO_, throw an error to get the parent iterator to clear to the next line.
    * If it does, fetch the BO data:
        BO_ <ID> <Messagename> <ByteLength> <Sender>
    * Then, iterate over the next lines;
    * While the stream is creating valid signal objects, >> create more DbcSignal.cpp objects.
* DBCSignal.cpp
    * Get the next line, if (after cleanup) the line is empty or does not start with SG_, throw an error to get the parent iterator to finish parsing signals.
    * If it does, fetch the signal data:
        SG_ <Fieldname> <Multiplexor> : <StartBit>|<BitLength>@<Order><Signed> (<Factor>,<Offset>) [<Minimum>|<Maximum>] "<Unit>" <Receivers>
    * Multiplexor may be blank (meaning value always appears in the message), in which case there will be no value between the Fieldname and the :
    * If Multiplexor is not blank, it is either:
        * 'M', meaning the value is the multiplexor
        * 'm###', with numbers, meaning the signal only appears in the message when the multiplexor value is equal to that of the multiplexed signal
    * Byteorder is either Motorola (big-endian/network) (0) or Intel (little-endian/math) (1)
    * Signed is either + (unsigned value) or - (signed value)
    * phys = digits * factor + offset

===DBC EXAMPLE===
BO_ 126 License: 8 EPAS
 SG_ EXPIRED : 10|1@1+ (1,0) [0|0] ""  MAB
 SG_ MUX M : 0|8@1+ (1,0) [0|0] ""  MAB
 SG_ FEAT_BASE_TRIALS_USED m0 : 32|16@1+ (1,0) [0|0] ""  MAB
 SG_ DATE1 m129 : 24|8@1+ (1,0) [0|0] ""  MAB


 SG_ FEAT_BASE_TRIALS_REMAINING m0 : 48|16@1+ (1,0) [0|0] ""  MAB
 SG_ FEAT_BASE_TRIAL m0 : 17|1@1+ (1,0) [0|0] ""  MAB
 SG_ FEAT_BASE_ENABLED m0 : 16|1@1+ (1,0) [0|0] ""  MAB
 SG_ TRIAL : 9|1@1+ (1,0) [0|0] ""  MAB
 SG_ READY : 8|1@1+ (1,0) [0|0] ""  MAB
 SG_ DATE0 m129 : 16|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN16 m133 : 48|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN15 m133 : 40|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN14 m133 : 32|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN01 m131 : 24|8@1+ (1,0) [0|0] ""  MAB
 SG_ VIN00 m131 : 16|8@1+ (1,0) [0|0] ""  MAB

CHANGELOG

Changelog for package dataspeed_can_tools

1.0.11 (2018-09-06)

  • Added support for multiple DBC files
  • Added support for multiplexed signals
  • Many changes to the command line arguments
  • Fixed bug with signals greater than 31 bits
  • Set CXX_STANDARD to C++11 when necessary
  • Contributors: Kevin Hallenbeck, Eric Myllyoja

1.0.10 (2018-06-13)

1.0.9 (2018-06-12)

  • Preliminary support for extended IDs
  • Contributors: Kevin Hallenbeck

1.0.8 (2018-04-09)

  • Added timestamp
  • Added option to expand dbc signals or not
  • Handle messages not defined in the dbc file
  • Contributors: Kevin Hallenbeck

1.0.7 (2017-10-19)

1.0.6 (2017-09-07)

  • Migrated from dataspeed_can_msgs to can_msgs (this will break dependent packages)
  • Contributors: Kevin Hallenbeck

1.0.5 (2017-08-21)

  • Updated nodelets to the PLUGINLIB_EXPORT_CLASS macro
  • Contributors: Kevin Hallenbeck

1.0.4 (2017-05-08)

1.0.3 (2017-04-25)

  • Updated package.xml format to version 2
  • Contributors: Kevin Hallenbeck

1.0.2 (2017-01-24)

1.0.1 (2016-11-17)

1.0.0 (2016-09-28)

  • Initial release
  • Contributors: Kevin Hallenbeck, Micho Radovnikovich

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