lightbar_manager::LightBarManager Class Reference

#include <lightbar_manager_node.hpp>

Inheritance diagram for lightbar_manager::LightBarManager:

Collaboration diagram for lightbar_manager::LightBarManager:

Public Member Functions
	LightBarManager (const rclcpp::NodeOptions &)
std::shared_ptr< LightBarManagerWorker >	getWorker ()
	Get ptr to lightbar_manager_worker (for ease of unit testing) More...
void	turnOffAll ()
	Miscellaneous function that forces the state to disengaged and turn off all indicators. Used in special demo cases as well as when carma is disengaged. More...
int	setIndicator (LightBarIndicator ind, IndicatorStatus ind_status, const std::string &requester_name)
	Try to turn the given indicator ON or OFF (comm with hardware) upon the given component's request. More...
void	turnSignalCallback (automotive_platform_msgs::msg::TurnSignalCommand::UniquePtr msg_ptr)
	Callback function for turning signal. More...
carma_ros2_utils::CallbackReturn	handle_on_configure (const rclcpp_lifecycle::State &)
carma_ros2_utils::CallbackReturn	handle_on_activate (const rclcpp_lifecycle::State &)
carma_ros2_utils::CallbackReturn	handle_on_deactivate (const rclcpp_lifecycle::State &)
carma_ros2_utils::CallbackReturn	handle_on_cleanup (const rclcpp_lifecycle::State &)
carma_ros2_utils::CallbackReturn	handle_on_error (const rclcpp_lifecycle::State &)
carma_ros2_utils::CallbackReturn	handle_on_shutdown (const rclcpp_lifecycle::State &)

Private Member Functions
void	processTurnSignal (const automotive_platform_msgs::msg::TurnSignalCommand &msg)
	Turn signal callback function helper. More...
bool	spinCallBack ()
bool	requestControlCallBack (const std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< carma_msgs::srv::RequestIndicatorControl::Request > req, std::shared_ptr< carma_msgs::srv::RequestIndicatorControl::Response > resp)
bool	releaseControlCallBack (const std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< carma_msgs::srv::ReleaseIndicatorControl::Request > req, std::shared_ptr< carma_msgs::srv::ReleaseIndicatorControl::Response > resp)
bool	setIndicatorCallBack (const std::shared_ptr< rmw_request_id_t >, const std::shared_ptr< carma_driver_msgs::srv::SetLightBarIndicator::Request > req, std::shared_ptr< carma_driver_msgs::srv::SetLightBarIndicator::Response > resp)
void	stateChangeCallBack (carma_planning_msgs::msg::GuidanceState::UniquePtr msg_ptr)
	FRIEND_TEST (LightBarManagerNodeTest, testSetIndicator)
	FRIEND_TEST (LightBarManagerNodeTest, testTurnOffAll)
	FRIEND_TEST (LightBarManagerNodeTest, testTurnSignalCallback)

Private Attributes
Config	config_
std::string	node_name_ = "lightbar_manager"
double	spin_rate_ = 10.0
std::map< lightbar_manager::LightBarIndicator, std::string >	prev_owners_before_turn_
carma_ros2_utils::ServicePtr< carma_msgs::srv::RequestIndicatorControl >	request_control_server_
carma_ros2_utils::ServicePtr< carma_msgs::srv::ReleaseIndicatorControl >	release_control_server_
carma_ros2_utils::ServicePtr< carma_driver_msgs::srv::SetLightBarIndicator >	set_indicator_server_
carma_ros2_utils::ClientPtr< carma_driver_msgs::srv::SetLights >	lightbar_driver_client_
carma_ros2_utils::PubPtr< carma_msgs::msg::LightBarIndicatorControllers >	indicator_control_publisher_
carma_ros2_utils::SubPtr< carma_planning_msgs::msg::GuidanceState >	guidance_state_subscriber_
carma_ros2_utils::SubPtr< automotive_platform_msgs::msg::TurnSignalCommand >	turn_signal_subscriber_
std::shared_ptr< LightBarManagerWorker >	lbm_
rclcpp::TimerBase::SharedPtr	pub_timer_

Detailed Description

Definition at line 68 of file lightbar_manager_node.hpp.

Constructor & Destructor Documentation

LightBarManager()

LightBarManager::LightBarManager ( const rclcpp::NodeOptions &  options )

explicit

Definition at line 26 of file lightbar_manager_node.cpp.

                                                                 : carma_ros2_utils::CarmaLifecycleNode(options)
{
    // Create initial config
    config_ = Config();
    config_.spin_rate_hz = declare_parameter<double>("spin_rate_hz", config_.spin_rate_hz);
    config_.normal_operation = declare_parameter<bool>("normal_operation", config_.normal_operation);
    declare_parameter("lightbar_cda_table", config_.lightbar_cda_table);
    declare_parameter("lightbar_ind_table", config_.lightbar_ind_table);
    declare_parameter("lightbar_priorities", config_.lightbar_priorities);
    lbm_ = std::make_shared<LightBarManagerWorker>();
}

References config_, lbm_, lightbar_manager::Config::lightbar_cda_table, lightbar_manager::Config::lightbar_ind_table, lightbar_manager::Config::lightbar_priorities, lightbar_manager::Config::normal_operation, and lightbar_manager::Config::spin_rate_hz.

Member Function Documentation

FRIEND_TEST() [1/3]

lightbar_manager::LightBarManager::FRIEND_TEST ( LightBarManagerNodeTest  , testSetIndicator    )

private

FRIEND_TEST() [2/3]

lightbar_manager::LightBarManager::FRIEND_TEST ( LightBarManagerNodeTest  , testTurnOffAll    )

private

FRIEND_TEST() [3/3]

lightbar_manager::LightBarManager::FRIEND_TEST ( LightBarManagerNodeTest  , testTurnSignalCallback    )

private

getWorker()

std::shared_ptr< LightBarManagerWorker > LightBarManager::getWorker

(

)

Get ptr to lightbar_manager_worker (for ease of unit testing)

Returns

LightBarManagerWorker

Definition at line 357 of file lightbar_manager_node.cpp.

{
    return lbm_;
}

References lbm_.

handle_on_activate()

carma_ros2_utils::CallbackReturn LightBarManager::handle_on_activate

(

const rclcpp_lifecycle::State &

)

Definition at line 114 of file lightbar_manager_node.cpp.

{
    pub_timer_ = create_timer(get_clock(), 
            std::chrono::milliseconds((int)(1 / config_.spin_rate_hz * 1000)),
            std::bind(&LightBarManager::spinCallBack, this));
    return CallbackReturn::SUCCESS;
}

References config_, pub_timer_, lightbar_manager::Config::spin_rate_hz, and spinCallBack().

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handle_on_cleanup()

carma_ros2_utils::CallbackReturn LightBarManager::handle_on_cleanup

(

const rclcpp_lifecycle::State &

)

Definition at line 129 of file lightbar_manager_node.cpp.

{
    // Cleanup the lightbar if cleaned up
    turnOffAll();
    return CallbackReturn::SUCCESS;
}

References turnOffAll().

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handle_on_configure()

carma_ros2_utils::CallbackReturn LightBarManager::handle_on_configure

(

const rclcpp_lifecycle::State &

)

Definition at line 38 of file lightbar_manager_node.cpp.

{
    // Reset config
    config_ = Config();
    
    RCLCPP_INFO_STREAM(rclcpp::get_logger("lightbar_manager"),"Initalizing lightbar manager node...");
    
    // Load the spin rate param to determine how fast to process messages
    // Default rate 10.0 Hz
    get_parameter<double>("spin_rate_hz", config_.spin_rate_hz);
 
    request_control_server_= create_service<carma_msgs::srv::RequestIndicatorControl>("request_control", std::bind(&LightBarManager::requestControlCallBack, this, std_ph::_1, std_ph::_2, std_ph::_3));
    release_control_server_= create_service<carma_msgs::srv::ReleaseIndicatorControl>("release_control", std::bind(&LightBarManager::releaseControlCallBack, this, std_ph::_1, std_ph::_2, std_ph::_3));
    set_indicator_server_= create_service<carma_driver_msgs::srv::SetLightBarIndicator>("set_indicator", std::bind(&LightBarManager::setIndicatorCallBack, this, std_ph::_1, std_ph::_2, std_ph::_3));
    indicator_control_publisher_ = create_publisher<carma_msgs::msg::LightBarIndicatorControllers>("indicator_control", 5);
    guidance_state_subscriber_ =  create_subscription<carma_planning_msgs::msg::GuidanceState>("state", 5, std::bind(&LightBarManager::stateChangeCallBack, this, std_ph::_1));
    turn_signal_subscriber_ =  create_subscription<automotive_platform_msgs::msg::TurnSignalCommand>("turn_signal_command", 5, std::bind(&LightBarManager::turnSignalCallback, this, std_ph::_1));
    lightbar_driver_client_ = create_client<carma_driver_msgs::srv::SetLights>("set_lights");
 
    // Load Conversion table, CDAType to Indicator mapping
 
    rclcpp::Parameter lightbar_cda_table_param = get_parameter("lightbar_cda_table");
    if (lightbar_cda_table_param.get_type() !=  rclcpp::ParameterType::PARAMETER_NOT_SET)
        config_.lightbar_cda_table = lightbar_cda_table_param.as_string_array();
 
    rclcpp::Parameter lightbar_ind_table_param = get_parameter("lightbar_ind_table");
    if (lightbar_ind_table_param.get_type() !=  rclcpp::ParameterType::PARAMETER_NOT_SET)
        config_.lightbar_ind_table = lightbar_ind_table_param.as_string_array();
    
    if (config_.lightbar_cda_table.size() != config_.lightbar_ind_table.size())
    {
        throw std::invalid_argument("Size of lightbar_cda_table is not same as that of lightbar_ind_table");
    }
    
    lbm_->setIndicatorCDAMap(config_.lightbar_cda_table, config_.lightbar_ind_table);
 
    // Initialize indicator control map. Fills with supporting indicators with empty string name as owners.
    lbm_->setIndicatorControllers();
 
    // Initialize indicator representation of lightbar status to all OFF
    for (int i =0; i < INDICATOR_COUNT; i++)
        lbm_->light_status.push_back(OFF);
 
    rclcpp::Parameter lightbar_priorities_param = get_parameter("lightbar_priorities");
    if (lightbar_priorities_param.get_type() !=  rclcpp::ParameterType::PARAMETER_NOT_SET)
    {
        config_.lightbar_priorities = lightbar_priorities_param.as_string_array();
        lbm_->control_priorities = config_.lightbar_priorities;
    }
        
    // Take control of green light
    get_parameter<bool>("normal_operation", config_.normal_operation);
 
    RCLCPP_INFO_STREAM(rclcpp::get_logger("lightbar_manager"), "Loaded params: " << config_);
 
    std::vector<LightBarIndicator> denied_list, greens = {GREEN_SOLID, GREEN_FLASH};
 
    denied_list = lbm_->requestControl(greens, node_name_);
    if (denied_list.size() != 0)
    {
        if (config_.normal_operation)
        {
            RCLCPP_WARN_STREAM(rclcpp::get_logger("lightbar_manager"),"In fuction " << __FUNCTION__ << ", LightBarManager was not able to take control of all green indicators."
                << ".\n Please check priority list rosparameter, and ensure " << node_name_ << " has the highest priority."
                << ".\n If this is intended, pass false to normal_operation argument. Exiting...");
            throw INVALID_LIGHTBAR_MANAGER_PRIORITY();
        }
        else
        {
            RCLCPP_WARN_STREAM(rclcpp::get_logger("lightbar_manager"),"In fuction " << __FUNCTION__ << ", LightBarManager was not able to take control of all green indicators."
                << ".\n Resuming...");   
        }
    }
    return CallbackReturn::SUCCESS;
}

References config_, lightbar_manager::GREEN_FLASH, lightbar_manager::GREEN_SOLID, guidance_state_subscriber_, process_bag::i, indicator_control_publisher_, INDICATOR_COUNT, lbm_, lightbar_manager::Config::lightbar_cda_table, lightbar_driver_client_, lightbar_manager::Config::lightbar_ind_table, lightbar_manager::Config::lightbar_priorities, node_name_, lightbar_manager::Config::normal_operation, lightbar_manager::OFF, release_control_server_, releaseControlCallBack(), request_control_server_, requestControlCallBack(), set_indicator_server_, setIndicatorCallBack(), lightbar_manager::Config::spin_rate_hz, stateChangeCallBack(), turn_signal_subscriber_, and turnSignalCallback().

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handle_on_deactivate()

carma_ros2_utils::CallbackReturn LightBarManager::handle_on_deactivate

(

const rclcpp_lifecycle::State &

)

Definition at line 122 of file lightbar_manager_node.cpp.

{
    // Deactivate the lightbar if deactivated
    turnOffAll();
    return CallbackReturn::SUCCESS;
}

References turnOffAll().

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handle_on_error()

carma_ros2_utils::CallbackReturn LightBarManager::handle_on_error

(

const rclcpp_lifecycle::State &

)

Definition at line 136 of file lightbar_manager_node.cpp.

{
    // Cleanup the lightbar if error
    turnOffAll();
    return CallbackReturn::FAILURE; // By default an error will take us into the finalized sate.
}

References turnOffAll().

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handle_on_shutdown()

carma_ros2_utils::CallbackReturn LightBarManager::handle_on_shutdown

(

const rclcpp_lifecycle::State &

)

Definition at line 143 of file lightbar_manager_node.cpp.

{
    // Cleanup the lightbar if shutdown
    turnOffAll();
    return CallbackReturn::SUCCESS; // By default shutdown will take us into the finalized state.
}

References turnOffAll().

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processTurnSignal()

void LightBarManager::processTurnSignal ( const automotive_platform_msgs::msg::TurnSignalCommand &  msg )

private

Turn signal callback function helper.

Returns

Definition at line 301 of file lightbar_manager_node.cpp.

{
    // if not automated
    if (msg.mode != 1)
    {
        return;
    }
 
    // check if left or right signal should be controlled, or none at all
    std::vector<lightbar_manager::LightBarIndicator> changed_turn_signal = lbm_->handleTurnSignal(msg);
 
 
    if (changed_turn_signal.empty())
    {
        return; //no need to do anything if it is same turn signal changed
    }
    
    lightbar_manager::IndicatorStatus indicator_status;
    // check if we should turn off or on given any indicator
    if (msg.turn_signal == automotive_platform_msgs::msg::TurnSignalCommand::NONE)
    {
        indicator_status = lightbar_manager::IndicatorStatus::OFF;
    }
    else 
    {
        indicator_status = lightbar_manager::IndicatorStatus::ON;
        prev_owners_before_turn_ = lbm_->getIndicatorControllers(); // save the owner if new turn is starting
 
    }
    if (lbm_->requestControl(changed_turn_signal, node_name_).empty())
    {
        int response_code = 0;
        response_code = setIndicator(changed_turn_signal[0], indicator_status, node_name_);
        if (response_code != 0)
            RCLCPP_ERROR_STREAM(rclcpp::get_logger("lightbar_manager"),"In Function " << __FUNCTION__ << ": LightBarManager was not able to set light of indicator ID:" 
                << changed_turn_signal[0] << ". Response code: " << response_code);
    }
    else
    {
        std::string turn_string = msg.turn_signal == automotive_platform_msgs::msg::TurnSignalCommand::LEFT ? "left" : "right";
        RCLCPP_WARN_STREAM(rclcpp::get_logger("lightbar_manager"),"Lightbar was not able to take control of lightbar to indicate " << turn_string << "turn!");
        return;
    }
 
    // release control if it is turning off and put back the previous owners
    if (indicator_status == lightbar_manager::IndicatorStatus::OFF)
    {
        lbm_->releaseControl(changed_turn_signal, node_name_);
        // we need to force set the <indicator, owner> mapping
        // as series of requestControl may not be able to exactly achieve previous combination
        lbm_->setIndicatorControllers(prev_owners_before_turn_);
        // reset as the turn is finished
        prev_owners_before_turn_.clear();
    }
}

References lbm_, node_name_, lightbar_manager::OFF, lightbar_manager::ON, prev_owners_before_turn_, and setIndicator().

Referenced by turnSignalCallback().

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releaseControlCallBack()

bool LightBarManager::releaseControlCallBack ( const std::shared_ptr< rmw_request_id_t >  , const std::shared_ptr< carma_msgs::srv::ReleaseIndicatorControl::Request >  req, std::shared_ptr< carma_msgs::srv::ReleaseIndicatorControl::Response >  resp  )

private

Definition at line 232 of file lightbar_manager_node.cpp.

{
    std::vector<LightBarIndicator> ind_list;
 
    // Use CDAType if the field is not empty in the request
    if (req->cda_list.size() != 0)
    {   
        for (auto cda_type : req->cda_list) 
        {
            // return false if invalid indicator number
            if (static_cast<uint8_t>(cda_type.type) >= INDICATOR_COUNT)
                return false; 
            ind_list.push_back(lbm_->getIndicatorFromCDAType(static_cast<LightBarCDAType>(cda_type.type)));
        }
    }
    else
    {
        for (auto indicator : req->ind_list)
        {
            // return false if invalid cda_type number
            if (static_cast<uint8_t>(indicator.indicator) >= INDICATOR_COUNT)
                return false; 
            ind_list.push_back(static_cast<LightBarIndicator>(indicator.indicator));
        }
    }
    lbm_->releaseControl(ind_list, req->requester_name);
    return true;
}

References INDICATOR_COUNT, and lbm_.

Referenced by handle_on_configure().

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requestControlCallBack()

bool LightBarManager::requestControlCallBack ( const std::shared_ptr< rmw_request_id_t >  , const std::shared_ptr< carma_msgs::srv::RequestIndicatorControl::Request >  req, std::shared_ptr< carma_msgs::srv::RequestIndicatorControl::Response >  resp  )

private

Definition at line 180 of file lightbar_manager_node.cpp.

{
    std::vector<LightBarIndicator> ind_list, controlled_ind_list;
    std::vector<LightBarCDAType> controlled_cda_type_list;
    
    // Use CDAType if the field is not empty in the request
    if (req->cda_list.size() != 0)
    {   
        for (auto cda_type : req->cda_list) 
        {
            // return false if invalid cda_type number
            if (static_cast<uint8_t>(cda_type.type) >= INDICATOR_COUNT)
                return false; 
            ind_list.push_back(lbm_->getIndicatorFromCDAType(static_cast<LightBarCDAType>(cda_type.type)));
        }
    }
    else
    {
        for (auto indicator : req->ind_list) 
        {
            // return false if invalid indicator number
            if (static_cast<uint8_t>(indicator.indicator) >= INDICATOR_COUNT)
                return false;
            ind_list.push_back(static_cast<LightBarIndicator>(indicator.indicator));
        }
            
    }
    
    controlled_ind_list = lbm_->requestControl(ind_list, req->requester_name);
    
    for (auto indicator : controlled_ind_list)
    {
        try
        {
            // Some indicators do not have mapped CDAType
            controlled_cda_type_list.push_back(lbm_->getCDATypeFromIndicator(indicator));
        }
        catch(INDICATOR_NOT_MAPPED)
        {
            // 4 out of 8 does not have mapping, so skip
            continue;
        }
    }
        
    // Modify the response
    resp->cda_list = lbm_->getMsg(controlled_cda_type_list);
    resp->ind_list = lbm_->getMsg(controlled_ind_list);
    return true;
}

References INDICATOR_COUNT, and lbm_.

Referenced by handle_on_configure().

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setIndicator()

int LightBarManager::setIndicator	(	LightBarIndicator	ind,
		IndicatorStatus	ind_status,
		const std::string &	requester_name
	)

Try to turn the given indicator ON or OFF (comm with hardware) upon the given component's request.

Returns

Returns the status code whether if the request was successful or not

Definition at line 362 of file lightbar_manager_node.cpp.

{
    // Handle the msg/service translation
    int response_code = 0;
    if (static_cast<uint8_t>(ind) >= INDICATOR_COUNT || static_cast<uint8_t>(ind_status) > 1)
    {
        // Invalid indicator ID or ind_status
        response_code = 1;
        return response_code;
    }
 
    // Check if the requester has control of this light
    std::string current_controller = lbm_->getIndicatorControllers()[ind];
    if (requester_name == "" || current_controller != requester_name) 
    {
        RCLCPP_WARN_STREAM(rclcpp::get_logger("lightbar_manager"),requester_name << " failed to set the LightBarIndicator ID" << ind 
            << " as this was already controlled by " << current_controller);
        response_code = 1;
        return response_code;
    }
 
    std::vector<IndicatorStatus> light_status_proposed = lbm_->setIndicator(ind, ind_status, requester_name);
    carma_driver_msgs::msg::LightBarStatus msg = lbm_->getLightBarStatusMsg(light_status_proposed);
    auto srv = std::make_shared<carma_driver_msgs::srv::SetLights::Request>();
    srv->set_state = msg;
    
    auto resp = lightbar_driver_client_->async_send_request(srv);
 
    auto future_status = resp.wait_for(std::chrono::milliseconds(100));
    // Try to send the request
    if (future_status == std::future_status::ready)
    {
        // if successful, update the local copy.
        lbm_->light_status = light_status_proposed;
        response_code =  0;
    }
    else
    {
        RCLCPP_WARN_STREAM(rclcpp::get_logger("lightbar_manager"),"In function: " << __FUNCTION__ << ": Failed to set lights. ROSservice call to the driver failed. ");
        response_code =  2;
    }
    return response_code;
 
}

References INDICATOR_COUNT, lbm_, and lightbar_driver_client_.

Referenced by processTurnSignal(), setIndicatorCallBack(), stateChangeCallBack(), and turnOffAll().

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setIndicatorCallBack()

bool LightBarManager::setIndicatorCallBack ( const std::shared_ptr< rmw_request_id_t >  , const std::shared_ptr< carma_driver_msgs::srv::SetLightBarIndicator::Request >  req, std::shared_ptr< carma_driver_msgs::srv::SetLightBarIndicator::Response >  resp  )

private

Definition at line 407 of file lightbar_manager_node.cpp.

{
    LightBarIndicator indicator;
    int response_code = 0;
    if (req->cda_type.type != NULL)
        indicator = lbm_->getIndicatorFromCDAType(static_cast<LightBarCDAType>(req->cda_type.type));
    else
        indicator = static_cast<LightBarIndicator>(req->indicator.indicator);
 
    response_code = setIndicator(indicator, static_cast<IndicatorStatus>(req->state), req->requester_name);
    resp->status_code = response_code;
    if (response_code != 0)
        return false;
 
    return true;
}

References lbm_, and setIndicator().

Referenced by handle_on_configure().

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spinCallBack()

bool LightBarManager::spinCallBack ( )

private

Definition at line 263 of file lightbar_manager_node.cpp.

{
    indicator_control_publisher_->publish(lbm_->getMsg(lbm_->getIndicatorControllers()));
    return true;
}

References indicator_control_publisher_, and lbm_.

Referenced by handle_on_activate().

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stateChangeCallBack()

void LightBarManager::stateChangeCallBack ( carma_planning_msgs::msg::GuidanceState::UniquePtr  msg_ptr )

private

Definition at line 269 of file lightbar_manager_node.cpp.

{
    // Relay the msg to state machine
    LightBarState prev_lightbar_state = lbm_->getCurrentState();
    lbm_->handleStateChange(*msg_ptr);
 
    // Change green lights depending on states, no need to check if its current owner, as it will always be for green lights
    LightBarState curr_lightbar_state = lbm_->getCurrentState();
    if (curr_lightbar_state != prev_lightbar_state)
    {
        switch(curr_lightbar_state)
        {
            case DISENGAGED:
                turnOffAll();
                break;
            case ACTIVE:
                setIndicator(GREEN_FLASH, ON, node_name_);
                break;
            case ENGAGED:
                setIndicator(GREEN_SOLID, ON, node_name_);
                break;
            default:
                break;
        }
    }
}

References lightbar_manager::ACTIVE, lightbar_manager::DISENGAGED, lightbar_manager::ENGAGED, lightbar_manager::GREEN_FLASH, lightbar_manager::GREEN_SOLID, lbm_, node_name_, lightbar_manager::ON, setIndicator(), and turnOffAll().

Referenced by handle_on_configure().

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turnOffAll()

void LightBarManager::turnOffAll

(

)

Miscellaneous function that forces the state to disengaged and turn off all indicators. Used in special demo cases as well as when carma is disengaged.

Definition at line 150 of file lightbar_manager_node.cpp.

{
    // All components lose controls and turn the indicators off by giving lightbarmanar the control
    std::vector<LightBarIndicator> all_indicators;
 
    RCLCPP_INFO_STREAM(rclcpp::get_logger("lightbar_manager"),"LightBarManager was commanded to turn off all indicators!");
 
    for (std::pair <LightBarIndicator, std::string> element : lbm_->getIndicatorControllers())
        all_indicators.push_back(element.first);
    
    // Reset all controls
    lbm_->setIndicatorControllers();
    
    // Give lightbar manager the control which is guaranteed to succeed
    lbm_->requestControl(all_indicators, node_name_);
    int response_code = 0;
    for (auto indicator : all_indicators)
    {
        response_code = setIndicator(indicator, OFF, node_name_);
        if (response_code != 0)
            RCLCPP_WARN_STREAM(rclcpp::get_logger("lightbar_manager"),"In Function " << __FUNCTION__ << ": LightBarManager was not able to turn off indicator ID:" 
                << indicator << ". Response code: " << response_code);
    }
 
    // Once forced them off, release controls in case carma is still running so that lightbar_manager does not hog the control
    all_indicators.erase(std::remove(all_indicators.begin(), all_indicators.end(), GREEN_FLASH), all_indicators.end());
    all_indicators.erase(std::remove(all_indicators.begin(), all_indicators.end(), GREEN_SOLID), all_indicators.end());
    lbm_->releaseControl(all_indicators, node_name_);
}

References lightbar_manager::GREEN_FLASH, lightbar_manager::GREEN_SOLID, lbm_, node_name_, lightbar_manager::OFF, and setIndicator().

Referenced by handle_on_cleanup(), handle_on_deactivate(), handle_on_error(), handle_on_shutdown(), and stateChangeCallBack().

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turnSignalCallback()

void LightBarManager::turnSignalCallback

(

automotive_platform_msgs::msg::TurnSignalCommand::UniquePtr

msg_ptr

)

Callback function for turning signal.

Returns

Definition at line 296 of file lightbar_manager_node.cpp.

{
    return processTurnSignal(*msg_ptr);
}

References processTurnSignal().

Referenced by handle_on_configure().

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Member Data Documentation

config_

Config lightbar_manager::LightBarManager::config_

private

Definition at line 115 of file lightbar_manager_node.hpp.

Referenced by LightBarManager(), handle_on_activate(), and handle_on_configure().

guidance_state_subscriber_

carma_ros2_utils::SubPtr<carma_planning_msgs::msg::GuidanceState> lightbar_manager::LightBarManager::guidance_state_subscriber_

private

Definition at line 153 of file lightbar_manager_node.hpp.

Referenced by handle_on_configure().

indicator_control_publisher_

carma_ros2_utils::PubPtr<carma_msgs::msg::LightBarIndicatorControllers> lightbar_manager::LightBarManager::indicator_control_publisher_

private

Definition at line 150 of file lightbar_manager_node.hpp.

Referenced by handle_on_configure(), and spinCallBack().

lbm_

std::shared_ptr<LightBarManagerWorker> lightbar_manager::LightBarManager::lbm_

private

Definition at line 157 of file lightbar_manager_node.hpp.

Referenced by LightBarManager(), getWorker(), handle_on_configure(), processTurnSignal(), releaseControlCallBack(), requestControlCallBack(), setIndicator(), setIndicatorCallBack(), spinCallBack(), stateChangeCallBack(), and turnOffAll().

lightbar_driver_client_

carma_ros2_utils::ClientPtr<carma_driver_msgs::srv::SetLights> lightbar_manager::LightBarManager::lightbar_driver_client_

private

Definition at line 147 of file lightbar_manager_node.hpp.

Referenced by handle_on_configure(), and setIndicator().

node_name_

std::string lightbar_manager::LightBarManager::node_name_ = "lightbar_manager"

private

Definition at line 124 of file lightbar_manager_node.hpp.

Referenced by handle_on_configure(), processTurnSignal(), stateChangeCallBack(), and turnOffAll().

prev_owners_before_turn_

std::map<lightbar_manager::LightBarIndicator, std::string> lightbar_manager::LightBarManager::prev_owners_before_turn_

private

Definition at line 126 of file lightbar_manager_node.hpp.

Referenced by processTurnSignal().

pub_timer_

rclcpp::TimerBase::SharedPtr lightbar_manager::LightBarManager::pub_timer_

private

Definition at line 159 of file lightbar_manager_node.hpp.

Referenced by handle_on_activate().

release_control_server_

carma_ros2_utils::ServicePtr<carma_msgs::srv::ReleaseIndicatorControl> lightbar_manager::LightBarManager::release_control_server_

private

Definition at line 145 of file lightbar_manager_node.hpp.

Referenced by handle_on_configure().

request_control_server_

carma_ros2_utils::ServicePtr<carma_msgs::srv::RequestIndicatorControl> lightbar_manager::LightBarManager::request_control_server_

private

Definition at line 144 of file lightbar_manager_node.hpp.

Referenced by handle_on_configure().

set_indicator_server_

carma_ros2_utils::ServicePtr<carma_driver_msgs::srv::SetLightBarIndicator> lightbar_manager::LightBarManager::set_indicator_server_

private

Definition at line 146 of file lightbar_manager_node.hpp.

Referenced by handle_on_configure().

spin_rate_

double lightbar_manager::LightBarManager::spin_rate_ = 10.0

private

Definition at line 125 of file lightbar_manager_node.hpp.

turn_signal_subscriber_

carma_ros2_utils::SubPtr<automotive_platform_msgs::msg::TurnSignalCommand> lightbar_manager::LightBarManager::turn_signal_subscriber_

private

Definition at line 154 of file lightbar_manager_node.hpp.

Referenced by handle_on_configure().

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

• lightbar_manager/include/lightbar_manager/lightbar_manager_node.hpp
• lightbar_manager/src/lightbar_manager_node.cpp