TacticalPlugin base class which can be extended by user provided plugins which wish to implement the Tactical Plugin ROS API. More...

#include <tactical_plugin.hpp>

Inheritance diagram for carma_guidance_plugins::TacticalPlugin:

Collaboration diagram for carma_guidance_plugins::TacticalPlugin:

Public Member Functions
	TacticalPlugin (const rclcpp::NodeOptions &)
	TacticalPlugin constructor. More...

virtual	~TacticalPlugin ()=default
	Virtual destructor for safe deletion. More...

virtual void	plan_trajectory_callback (std::shared_ptr< rmw_request_id_t > srv_header, carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr req, carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr resp)=0
	Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request. More...

std::string	get_capability () override
	Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation. More...

uint8_t	get_type () override final
	Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &) override final

carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &, const std::string &exception_string) override final

Public Member Functions inherited from carma_guidance_plugins::PluginBaseNode
	PluginBaseNode (const rclcpp::NodeOptions &)
	PluginBaseNode constructor. More...

virtual	~PluginBaseNode ()=default
	Virtual destructor for safe deletion. More...

virtual std::shared_ptr< carma_wm::WMListener >	get_world_model_listener () final
	Method to return the default world model listener provided as a convience by this base class If this method or get_world_model() are not called then the world model remains uninitialized and will not create unnecessary subscriptions. More...

virtual carma_wm::WorldModelConstPtr	get_world_model () final
	Method to return the default world model provided as a convience by this base class If this method or get_world_model_listener() are not called then the world model remains uninitialized and will not create unnecessary subscriptions. More...

virtual bool	get_activation_status () final
	Returns the activation status of this plugin. The plugins API callbacks will only be triggered when this method returns true. More...

virtual uint8_t	get_type ()
	Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method. More...

std::string	get_plugin_name_and_ns () const
	Return the name of this plugin with namespace. NOTE: If only the name of the plugin is required, use get_plugin_name() More...

std::string	get_plugin_name () const
	Return the name of this plugin. More...

virtual bool	get_availability ()=0
	Get the availability status of this plugin based on the current operating environment. Method must be overriden by extending classes. More...

virtual std::string	get_capability ()=0
	Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation. More...

virtual std::string	get_version_id ()=0
	Returns the version id of this plugin. More...

virtual carma_ros2_utils::CallbackReturn	on_configure_plugin ()=0
	Method which is triggered when this plugin is moved from the UNCONFIGURED to INACTIVE states. This method should be used to load parameters and is required to be implemented. More...

virtual carma_ros2_utils::CallbackReturn	on_activate_plugin ()
	Method which is triggered when this plugin is moved from the INACTIVE to ACTIVE states. This method should be used to prepare for future callbacks for plugin's capabilites. More...

virtual carma_ros2_utils::CallbackReturn	on_deactivate_plugin ()
	Method which is triggered when this plugin is moved from the ACTIVE to INACTIVE states. This method should be used to disable any functionality which should cease execution when plugin is inactive. More...

virtual carma_ros2_utils::CallbackReturn	on_cleanup_plugin ()
	Method which is triggered when this plugin is moved from the INACTIVE to UNCONFIGURED states. This method should be used to fully reset the plugin such that a future call to on_configure_plugin would leave the plugin in a fresh state as though just launched. More...

virtual carma_ros2_utils::CallbackReturn	on_shutdown_plugin ()
	Method which is triggered when this plugin is moved from any state to FINALIZED This method should be used to generate any shutdown logs or final cleanup. More...

virtual carma_ros2_utils::CallbackReturn	on_error_plugin (const std::string &exception_string)
	Method which is triggered when an unhandled exception occurs in this plugin This method should be used to cleanup such that the plugin could be moved to UNCONFIGURED state if possible. More...

carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &) override

carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &, const std::string &exception_string) override

	FRIEND_TEST (carma_guidance_plugins_test, connections_test)

Private Attributes
carma_ros2_utils::ServicePtr< carma_planning_msgs::srv::PlanTrajectory >	plan_trajectory_service_
	The ros service which can be called by the arbitrator or other plugins to have this plugin generate a trajectory plan. More...

Detailed Description

TacticalPlugin base class which can be extended by user provided plugins which wish to implement the Tactical Plugin ROS API.

A tactical plugin is responsible for planning the detailed trajectory which a vehicle should execute to complete a maneuver.

Definition at line 33 of file tactical_plugin.hpp.

Constructor & Destructor Documentation

◆ TacticalPlugin()

carma_guidance_plugins::TacticalPlugin::TacticalPlugin ( const rclcpp::NodeOptions & options )

explicit

TacticalPlugin constructor.

Definition at line 24 of file tactical_plugin.cpp.

25 : PluginBaseNode(options)

26 {}

carma_guidance_plugins::PluginBaseNode::PluginBaseNode

PluginBaseNode(const rclcpp::NodeOptions &)

PluginBaseNode constructor.

Definition: plugin_base_node.cpp:25

◆ ~TacticalPlugin()

virtual carma_guidance_plugins::TacticalPlugin::~TacticalPlugin ( )

virtualdefault

Virtual destructor for safe deletion.

Member Function Documentation

◆ get_capability()

std::string carma_guidance_plugins::TacticalPlugin::get_capability ( )

overridevirtual

Get the capability string representing this plugins capabilities Method must be overriden by extending classes. Expectation is that abstract plugin type parent classes will provide a default implementation.

Returns: Forward slash separated string describing the plugin's capabilities per the plugin capabilites API

Implements carma_guidance_plugins::PluginBaseNode.

Definition at line 28 of file tactical_plugin.cpp.

  {
    return "tactical_plan/plan_trajectory";
  }

◆ get_type()

uint8_t carma_guidance_plugins::TacticalPlugin::get_type ( )

finaloverridevirtual

Returns the type of this plugin according to the carma_planning_msgs::Plugin type enum. Extending classes for the specific type should override this method.

Returns: The extending class type or UNKOWN if the class or no parent class has implement this method.

Reimplemented from carma_guidance_plugins::PluginBaseNode.

Definition at line 33 of file tactical_plugin.cpp.

  {
    return carma_planning_msgs::msg::Plugin::TACTICAL; 
  }

◆ handle_on_activate()

carma_ros2_utils::CallbackReturn carma_guidance_plugins::TacticalPlugin::handle_on_activate ( const rclcpp_lifecycle::State & prev_state )

finaloverride

Definition at line 52 of file tactical_plugin.cpp.

  {
    return PluginBaseNode::handle_on_activate(prev_state);
  }

References carma_guidance_plugins::PluginBaseNode::handle_on_activate().

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◆ handle_on_cleanup()

carma_ros2_utils::CallbackReturn carma_guidance_plugins::TacticalPlugin::handle_on_cleanup ( const rclcpp_lifecycle::State & prev_state )

finaloverride

Definition at line 62 of file tactical_plugin.cpp.

  {
    return PluginBaseNode::handle_on_cleanup(prev_state);
  }

References carma_guidance_plugins::PluginBaseNode::handle_on_cleanup().

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◆ handle_on_configure()

carma_ros2_utils::CallbackReturn carma_guidance_plugins::TacticalPlugin::handle_on_configure ( const rclcpp_lifecycle::State & prev_state )

finaloverride

Definition at line 38 of file tactical_plugin.cpp.

  {
    // Initialize plan trajectory service
    plan_trajectory_service_ = create_service<carma_planning_msgs::srv::PlanTrajectory>(std::string(get_name()) + "/plan_trajectory", 
      [this] (auto header, auto req, auto resp) {
        if (this->get_activation_status()) // Only trigger when activated
        {
          this->plan_trajectory_callback(header, req, resp);
        }
      });
          
    return PluginBaseNode::handle_on_configure(prev_state);
  }

References carma_guidance_plugins::PluginBaseNode::get_activation_status(), carma_guidance_plugins::PluginBaseNode::handle_on_configure(), plan_trajectory_callback(), and plan_trajectory_service_.

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◆ handle_on_deactivate()

carma_ros2_utils::CallbackReturn carma_guidance_plugins::TacticalPlugin::handle_on_deactivate ( const rclcpp_lifecycle::State & prev_state )

finaloverride

Definition at line 57 of file tactical_plugin.cpp.

  {
    return PluginBaseNode::handle_on_deactivate(prev_state);
  }

References carma_guidance_plugins::PluginBaseNode::handle_on_deactivate().

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◆ handle_on_error()

carma_ros2_utils::CallbackReturn carma_guidance_plugins::TacticalPlugin::handle_on_error	(	const rclcpp_lifecycle::State &	prev_state,
		const std::string &	exception_string
	)

finaloverride

Definition at line 72 of file tactical_plugin.cpp.

  {
    return PluginBaseNode::handle_on_error(prev_state, exception_string);
  }

References carma_guidance_plugins::PluginBaseNode::handle_on_error().

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◆ handle_on_shutdown()

carma_ros2_utils::CallbackReturn carma_guidance_plugins::TacticalPlugin::handle_on_shutdown ( const rclcpp_lifecycle::State & prev_state )

finaloverride

Definition at line 67 of file tactical_plugin.cpp.

  {
    return PluginBaseNode::handle_on_shutdown(prev_state);
  }

References carma_guidance_plugins::PluginBaseNode::handle_on_shutdown().

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◆ plan_trajectory_callback()

virtual void carma_guidance_plugins::TacticalPlugin::plan_trajectory_callback	(	std::shared_ptr< rmw_request_id_t >	srv_header,
		carma_planning_msgs::srv::PlanTrajectory::Request::SharedPtr	req,
		carma_planning_msgs::srv::PlanTrajectory::Response::SharedPtr	resp
	)

pure virtual

Extending class provided callback which should return a planned trajectory based on the provided trajectory planning request.

Parameters

srv_header	RCL header for services calls. Can usually be ignored by implementers.
req	The service request containing the maneuvers to plan trajectories for and current vehicle state
resp	The response containing the planned trajectory

Implemented in inlanecruising_plugin::InLaneCruisingPluginNode, stop_and_wait_plugin::StopandWaitNode, yield_plugin::YieldPluginNode, cooperative_lanechange::CooperativeLaneChangePlugin, intersection_transit_maneuvering::IntersectionTransitManeuveringNode, light_controlled_intersection_tactical_plugin::LightControlledIntersectionTransitPluginNode, platooning_tactical_plugin::Node, stop_controlled_intersection_tactical_plugin::StopControlledIntersectionTacticalPlugin, and SUB::Node.

Referenced by handle_on_configure().

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Member Data Documentation

◆ plan_trajectory_service_

carma_ros2_utils::ServicePtr<carma_planning_msgs::srv::PlanTrajectory> carma_guidance_plugins::TacticalPlugin::plan_trajectory_service_

private

The ros service which can be called by the arbitrator or other plugins to have this plugin generate a trajectory plan.

Definition at line 39 of file tactical_plugin.hpp.

Referenced by handle_on_configure().

The documentation for this class was generated from the following files:

carma_guidance_plugins/include/carma_guidance_plugins/tactical_plugin.hpp
carma_guidance_plugins/src/tactical_plugin.cpp

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ TacticalPlugin()

◆ ~TacticalPlugin()

Member Function Documentation

◆ get_capability()

◆ get_type()

◆ handle_on_activate()

◆ handle_on_cleanup()

◆ handle_on_configure()

◆ handle_on_deactivate()

◆ handle_on_error()

◆ handle_on_shutdown()

◆ plan_trajectory_callback()

Member Data Documentation

◆ plan_trajectory_service_