Initial commit

2026-07-27 13:51:19 +08:00
commit 7bec56ca51
5408 changed files with 1126933 additions and 0 deletions
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+cmake_minimum_required(VERSION 3.0.2)
+project(socketcan_bridge)
+
+find_package(catkin REQUIRED
+  COMPONENTS
+    can_msgs
+    rosconsole_bridge
+    roscpp
+    socketcan_interface
+)
+
+catkin_package(
+  INCLUDE_DIRS
+    include
+  LIBRARIES
+    socketcan_to_topic
+    topic_to_socketcan
+  CATKIN_DEPENDS
+    can_msgs
+    rosconsole_bridge
+    roscpp
+    socketcan_interface
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+
+# socketcan_to_topic
+add_library(socketcan_to_topic
+  src/rosconsole_bridge.cpp
+  src/socketcan_to_topic.cpp
+)
+target_link_libraries(socketcan_to_topic
+  ${catkin_LIBRARIES}
+)
+add_dependencies(socketcan_to_topic
+  ${catkin_EXPORTED_TARGETS}
+)
+
+# topic_to_socketcan
+add_library(topic_to_socketcan
+  src/rosconsole_bridge.cpp
+  src/topic_to_socketcan.cpp
+)
+target_link_libraries(topic_to_socketcan
+  ${catkin_LIBRARIES}
+)
+add_dependencies(topic_to_socketcan
+  ${catkin_EXPORTED_TARGETS}
+)
+
+# socketcan_to_topic_node
+add_executable(socketcan_to_topic_node
+  src/socketcan_to_topic_node.cpp
+)
+target_link_libraries(socketcan_to_topic_node
+  socketcan_to_topic
+  ${catkin_LIBRARIES}
+)
+
+# topic_to_socketcan_node
+add_executable(topic_to_socketcan_node
+  src/topic_to_socketcan_node.cpp
+
+)
+target_link_libraries(topic_to_socketcan_node
+  topic_to_socketcan
+  ${catkin_LIBRARIES}
+)
+
+# socketcan_bridge_node
+add_executable(${PROJECT_NAME}_node
+  src/${PROJECT_NAME}_node.cpp
+)
+target_link_libraries(${PROJECT_NAME}_node
+  topic_to_socketcan
+  socketcan_to_topic
+  ${catkin_LIBRARIES}
+)
+
+install(
+  TARGETS
+    ${PROJECT_NAME}_node
+    socketcan_to_topic
+    socketcan_to_topic_node
+    topic_to_socketcan
+    topic_to_socketcan_node
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+install(
+  DIRECTORY
+    include/${PROJECT_NAME}/
+  DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+)
+
+if(CATKIN_ENABLE_TESTING)
+  find_package(rostest REQUIRED)
+  find_package(roslint REQUIRED)
+
+  roslint_cpp()
+  roslint_add_test()
+
+  # unit test for the can_msgs::Frame and can::Frame types.
+  catkin_add_gtest(test_conversion
+    test/test_conversion.cpp
+  )
+  target_link_libraries(test_conversion
+    topic_to_socketcan
+    socketcan_to_topic
+    ${catkin_LIBRARIES}
+  )
+
+
+  add_rostest_gtest(test_to_socketcan
+    test/to_socketcan.test
+    test/to_socketcan_test.cpp
+  )
+  target_link_libraries(test_to_socketcan
+    topic_to_socketcan
+    ${catkin_LIBRARIES}
+  )
+
+  add_rostest_gtest(test_to_topic
+    test/to_topic.test
+    test/to_topic_test.cpp
+  )
+  target_link_libraries(test_to_topic
+    socketcan_to_topic
+    topic_to_socketcan
+    ${catkin_LIBRARIES}
+  )
+
+endif()