bsm_generator_worker.hpp

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/*
 * Copyright (C) 2019-2022 LEIDOS.
 *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may not
 * use this file except in compliance with the License. You may obtain a copy of
 * the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
 * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
 * License for the specific language governing permissions and limitations under
 * the License.
 */
 
#pragma once
 
#include <rclcpp/rclcpp.hpp>
#include <functional>
#include <vector>
#include <climits>
#include <random>
#include <tf2/LinearMath/Transform.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 
namespace bsm_generator
{
 
    class BSMGeneratorWorker
    {
        public:
 
            BSMGeneratorWorker();
 
            uint8_t getNextMsgCount();
 
            std::vector<uint8_t> getMsgId(const rclcpp::Time now, double secs);
 
            uint16_t getSecMark(const rclcpp::Time now);
 
            float getSpeedInRange(const double speed);
 
            float getSteerWheelAngleInRange(const double angle);
 
            float getLongAccelInRange(const float accel);
 
            float getYawRateInRange(const double yaw_rate);
 
            uint8_t getBrakeAppliedStatus(const double brake);
 
            float getHeadingInRange(const float heading);
            float getHeading(const geometry_msgs::msg::Quaternion & quaternion);
 
        private:
            // Random number generator for BSM id
            std::default_random_engine generator_;
 
            // BSM message counter value
            uint8_t msg_count_ {0};
 
            // Random ID used to generate a new random BSM Message ID
            int random_id_ {0};
 
            // Variable to track the time that the last randomized BSM Message ID was generated
            rclcpp::Time last_id_generation_time_;
 
            // Variable to track whether this object's getMsgId() method is being called for the first time, 
            // so that 'last_id_generation_time_' can initialized with the proper time source
            bool first_msg_id_ = true;
    };
} // namespace bsm_generator