restore conversion node from 9cc2abf

got messed up in be4bdaa
ika-rwth-aachen · Apr 19, 2024 · bbb4add · bbb4add
1 parent d1ea67f
commit bbb4add
Show file tree

Hide file tree

Showing 2 changed files with 91 additions and 209 deletions.
diff --git a/etsi_its_conversion/etsi_its_conversion/include/etsi_its_conversion/Converter.hpp b/etsi_its_conversion/etsi_its_conversion/include/etsi_its_conversion/Converter.hpp
@@ -1,3 +1,5 @@
+// TODO: check which features got added to conversion node on main and whether they are still in this refactored version
+
 /** ============================================================================
 MIT License
 
@@ -137,18 +139,12 @@ class Converter : public rclcpp::Node {
     static const std::string kInputTopicMapem;
     static const std::string kOutputTopicMapem;
 
-    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 kHasBtpHeaderParam;
+    static const bool kHasBtpHeaderParamDefault;
     static const std::string kEtsiTypesParam;
     static const std::vector<std::string> kEtsiTypesParamDefault;
 
-    bool has_btp_destination_port_;
-    int btp_destination_port_offset_;
-    int etsi_message_payload_offset_;
+    bool has_btp_header_;
     std::vector<std::string> etsi_types_;
 
 #ifdef ROS1